GLTree.cpp 19.2 KB
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#include "GLTree.h"

//Some macros
#define CurrentDistance (dist=(p[idp].x-pk->x)*(p[idp].x-pk->x)+(p[idp].y-pk->y)*(p[idp].y-pk->y)+(p[idp].z-pk->z)*(p[idp].z-pk->z))\

//Perform the search in the current Leaf
#define LeafSearch  id=nyint*(idxi+ii)+nxint*nyint*(idzi+kk)+idyi+jj;\
ptr=First[id];\
        while(ptr>=0)\
        {idp=Leaves[ptr].idpoint;\
                 if (CurrentDistance<sqrdist)\
                 {*idc=idp;\
                          sqrdist=dist;\
                          *mindist=sqrt(sqrdist);\
                 }\
                         ptr=Leaves[ptr].next;\
        }
        
        
#define LeafSearch  id=nyint*(idxi+ii)+nxint*nyint*(idzi+kk)+idyi+jj;\
ptr=First[id];\
        while(ptr>=0)\
        {idp=Leaves[ptr].idpoint;\
                 if (CurrentDistance<sqrdist)\
                 {*idc=idp;\
                          sqrdist=dist;\
                          *mindist=sqrt(sqrdist);\
                 }\
                         ptr=Leaves[ptr].next;\
        }\
                
                
#define LeafSearchK id=nyint*(idxi+ii)+nxint*nyint*(idzi+kk)+idyi+jj;\
                ptr=First[id];\
        while(ptr>=0)\
        {idp=Leaves[ptr].idpoint;\
                 if (CurrentDistance<sqrdist)\
                 {\
                          dist=sqrt(dist); \
                          count=0; \
                                  for (n=1;n<k;n++)\
                                  {\
                                           if (dist<=distances[n])\
                                           {count++;}\
                                           else\
                                           {break;}\
                                  }\
                                          for (n=0;n<count;n++)\
                                          {\
                                                   idc[n]=idc[n+1];\
                                                           distances[n]=distances[n+1];\
                                          }\
                                                  idc[count]=idp;\
                                                          distances[count]=dist;\
                                                          mindist=distances[0];\
                                                                  sqrdist=mindist*mindist;\
                 }\
                         ptr=Leaves[ptr].next;\
        }\
                //   mexPrintf("\n", idp);\
                

                
                
//Constructor
GLTREE::GLTREE(Coord3D*p, int Np) {
        const double npbox=.5;//number of exitimated point each leaf
            
        int i;//counter
        int idxi, idyi, idzi;
        double V;
        double Maxx=-HUGE_VAL;
        double Maxy=-HUGE_VAL;
        double Maxz=-HUGE_VAL;
        double step;
        double nxdouble, nydouble, nzdouble;
        int Nb;
        int id;
        int *idStore;
                
        N=Np;
        Minx=HUGE_VAL;
        Miny=HUGE_VAL;
        Minz=HUGE_VAL;
        //Determinazione valori max e min
        for (i=0;i<N;i++) {
            if (p[i].x<Minx) {
                Minx=p[i].x;
            }
                
            if (p[i].x>Maxx) {
                Maxx=p[i].x;
            }
                
            if (p[i].y<Miny) {
                Miny=p[i].y;
            }
                
            if (p[i].y>Maxy) {
                Maxy=p[i].y;
            }
                
            if (p[i].z<Minz) {
                Minz=p[i].z;
            }
                
            if (p[i].z>Maxz) {
                Maxz=p[i].z;
            }
        }
            
        if (Maxx == Minx) {
            Maxx = 1+Minx;
        }
            
        if (Maxy == Miny) {
            Maxy = 1+Miny;
        }
            
        if (Maxz == Minz) {
            Maxz = 1+Minz;
        }
            
        Nb=(int)((N/npbox)+.5);
        V=(Maxx-Minx)*(Maxy-Miny)*(Maxz-Minz);//Volume
        step=pow(V/Nb, .33333333333333333);//size of leaf
           
        nxdouble=max(1,(int)(((Maxx-Minx)/step)+0.5)); //numero di foglie x , intero double
        nydouble=(Maxy-Miny)/step;
        nzdouble=(Maxz-Minz)/step;
            
            nxdouble=max(1,(int)(nxdouble+.5));
            nydouble=max(1,(int)(nydouble+.5));//numero di foglie y ,  intero double
            nzdouble=max(1,(int)(nzdouble+.5));//numero di foglie z ,  intero double
            
//Step computation for tollerance
            
            if((Maxx-Minx)>(Maxy-Miny))//compare dx and dy
            {if((Maxx-Minx)>(Maxz-Minz))//compare dx and dz
             {step=Maxx-Minx;}
             else
             { {step=Maxz-Minz;}}
            }
            else
            {if((Maxy-Miny)>(Maxz-Minz))//compare dy and dz
             {step=Maxy-Miny;}
             else
             { {step=Maxz-Minz;}}
            }
            
            
            
//Quasi square dimensione delle boxes
            
            Toll=1e-9*step;
            PX=(Maxx-Minx+1e4*Toll)/(nxdouble);//passo
            PY=(Maxy-Miny+1e4*Toll)/(nydouble);//1e-9 per aumentare il passo
            PZ=(Maxz-Minz+1e4*Toll)/(nzdouble);//1e-9 per aumentare il passo
            
            
            //convert coordinates to integer type
            nxint=nxdouble;
            nyint=nydouble;
            nzint=nzdouble;
            
            Nb=nxint*nyint*nzint;//real number of leaves
            
            
            //allocate memory
            First=new int[Nb];//contains the pointers to leaves
            //Get negative values for First
            for(i=0;i<Nb;i++)
            {First[i]=-1;}
                        
            Leaves=new GLNode[N];
            int counter=0;
            
//            mexPrintf("Nb= %4.4d\n",Nb);
            
            
            //loop to allocate points in the GLTree Data structure
            for (i=0;i<N;i++) {
                
                idxi=(p[i].x-Minx+Toll)/PX;
                idyi=(p[i].y-Miny+Toll)/PY;
                idzi=(p[i].z-Minz+Toll)/PZ;
                
                //id=ny*(idx-1)+(ny*nx)*(idz-1)+idy;Matlab
                id=nyint*idxi+nxint*nyint*idzi+idyi;
                
                
                //vedere se a counter si pu sostituire i
                
                Leaves[counter].idpoint=i;
                Leaves[counter].next=First[id];//store the bos id
                First[id]=counter;
                counter++;
                
            }
////            Debug (PLot the tree)
//            int ptr, idp;
//            for (id=0;id<Nb;id++)
//            {   ptr=First[id];
//                mexPrintf("Leaf %4.1d : ", id);
//                while(ptr>=0)
//                {idp=Leaves[ptr].idpoint;
//                 ptr=Leaves[ptr].next;
//                 mexPrintf(" %4.1d ", idp);
//                }
//                mexPrintf(" \n");
//            }
        }
        
        
        
        
        
        GLTREE::~GLTREE()//destructor
        {
            delete [] First;
            delete [] Leaves;
            
            
        }
        
        
        void GLTREE::SearchClosest(Coord3D *p, Coord3D *pk, int* idc, double* mindist) {
            /// Find the closest point using built Leaves
            //p reference point
            //qp query point
            // idc id closest
            // mindist the distance from the closest

            int   c;
            
            //volume iterators
            int ic1=0;
            int  ic2=0;
            int  jc1=0;
            int  jc2=0;
            int kc1=0;
            int kc2=0;
            
            //integer pointers
            int  id;
            int ptr;
            int  idp;
            
            //coordinates
            int idxi, idyi, idzi;
            
            bool goon;
            double sqrdist=HUGE_VAL;
            double	dyu, dxd, dyd, dxu, dzu, dzd;
            double dist;
            
            int ii=0;
            int jj=0;
            int kk=0;
            
            *mindist=HUGE_VAL;
            
//Get x coordinate
            idxi=(pk->x-Minx+Toll)/PX;
            if (idxi<0) {
                idxi=0;
                dxd=Minx-pk->x;
                dxu=dxd+PX;
            }
            
            else if  (idxi>nxint-1) {
                idxi=nxint-1;
                dxd=pk->x-(Minx+idxi*PX);
                dxu=dxd-PX;
            }
            else {
                dxd=pk->x-(Minx+idxi*PX);
                dxu=Minx+(idxi+1)*PX-pk->x;
            }
            
            
//Get ycoordinate
            idyi=(pk->y-Miny+Toll)/PY;
            if (idyi<0) {
                idyi=0;
                dyd=Miny-pk->y;
                dyu=dyd+PY;//distance up y
                
            }
            
            else if  (idyi>nyint-1) {
                idyi=nyint-1;
                dyd=pk->y-(Miny+idyi*PY);//distance up y
                dyu=dyd-PY;
            }
            else{
                dyu=Miny+(idyi+1)*PY-pk->y;//distance up y
                dyd=pk->y-(Miny+idyi*PY);
            }
            
            
//Get z coordinate
            
            idzi=(pk->z-Minz+Toll)/PZ;
            if (idzi<0) {
                idzi=0;
                dzd=Minz-pk->z;
                dzu=dzd+PZ;//distance up z
                
            }
            
            else if  (idzi>nzint-1) {
                idzi=nzint-1;
                dzd=pk->z-(Minz+idzi*PZ);//distance up y
                dzu=dzd-PZ;
            }
            else{
                dzu=Minz+(idzi+1)*PZ-pk->z;//distance up y
                dzd=pk->z-(Minz+idzi*PZ);
            }
            
            //Search the first leaf
            LeafSearch
                     
                    c=1;
            do
            {     goon=false;
                  
                  //xdown
                  if  (dxd<*mindist && idxi-c>-1)
                  {goon=true;
                   ic1=-c;
                   ii=-c;
                   for (jj=jc1;jj<=jc2;jj++)
                   {for (kk=kc1;kk<=kc2;kk++)
                        
                    { //leaf search
                        LeafSearch
                                
                    }
                   }
                   dxd=dxd+PX;
                  }
                  
                  //xup
                  if  (dxu<*mindist && idxi+c<nxint)
                  { goon=true;
                    ic2=c;
                    ii=c;
                    for (jj=jc1;jj<=jc2;jj++)
                    { for (kk=kc1;kk<=kc2;kk++)
                          
                      { //leaf search
                          LeafSearch
                                  
                      }
                    }
                    dxu=dxu+PX;
                  }
                  
                  //yup
                  if  (dyu<*mindist && idyi+c<nyint)
                  {goon=true;
                   jc2=c;
                   
                   jj=c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (kk=kc1;kk<=kc2;kk++)
                         
                     { //leaf search
                         
                         LeafSearch
                                 
                     }
                   }
                   dyu=dyu+PY;
                  }
                  
                  //ydown
                  if  (dyd<*mindist && idyi-c>-1)
                  {goon=true;
                   jc1=-c;
                   
                   jj=-c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (kk=kc1;kk<=kc2;kk++)
                         
                     { //leaf search
                         LeafSearch
                                 
                                 
                     }
                   }
                   dyd=dyd+PY;
                  }
                  
                  //zdown
                  if  (dzd<*mindist && idzi-c>-1)
                  {goon=true;
                   kc1=-c;
                   
                   kk=-c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (jj=jc1;jj<=jc2;jj++)
                         
                     { //leaf search
                         LeafSearch
                                 
                                 
                     }
                   }
                   dzd=dzd+PZ;
                  }
                  
                  //zup
                  if  (dzu<*mindist && idzi+c<nzint)
                  {goon=true;
                   kc2=c;
                   
                   kk=c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (jj=jc1;jj<=jc2;jj++)
                         
                     { //leaf search
                         
                         LeafSearch
                                 
                     }
                   }
                   dzu=dzu+PZ;
                  }
                  
                  c=c+1;
            }
            while (goon);
            
            return ;
            
        }
        
        void GLTREE::SearchKClosest(Coord3D *p, Coord3D *pk, int* idc, double* distances, int k) {/// Find the closest point using built Leaves
            //p reference point
            //qp query point
            // idc id closest
            // mindist the distance from the closest
            
            int   c;
            
            //volume iterators
            int ic1=0;
            int  ic2=0;
            int  jc1=0;
            int  jc2=0;
            int kc1=0;
            int kc2=0;
            
            //integer pointers
            int  id, n, count;
            int ptr;
            int  idp;
            
            //coordinates
            int idxi, idyi, idzi;
            
            bool goon;
            double sqrdist=HUGE_VAL;
            double mindist=HUGE_VAL;
            double	dyu, dxd, dyd, dxu, dzu, dzd;
            double dist;
            
            int ii=0;
            int jj=0;
            int kk=0;
            
            
            
            //Set huge the distances value
            for(n=0;n<k;n++) {
                distances[n]=HUGE_VAL;
            }
            
            
//Get x coordinate
            idxi=(pk->x-Minx+Toll)/PX;
            if (idxi<0) {
                idxi=0;
                dxd=Minx-pk->x;
                dxu=dxd+PX;
            }
            
            
            else if  (idxi>nxint-1) {
                idxi=nxint-1;
                dxd=pk->x-(Minx+idxi*PX);
                dxu=dxd-PX;
            }
            else {
                dxd=pk->x-(Minx+idxi*PX);
                dxu=Minx+(idxi+1)*PX-pk->x;
            }
            
            
//Get ycoordinate
            idyi=(pk->y-Miny+Toll)/PY;
            if (idyi<0) {
                idyi=0;
                dyd=Miny-pk->y;
                dyu=dyd+PY;//distance up y
                
            }
            
            else if  (idyi>nyint-1) {
                idyi=nyint-1;
                dyd=pk->y-(Miny+idyi*PY);//distance up y
                dyu=dyd-PY;
            }
            else{
                dyu=Miny+(idyi+1)*PY-pk->y;//distance up y
                dyd=pk->y-(Miny+idyi*PY);
            }
            
            
//Get z coordinate
            
            idzi=(pk->z-Minz+Toll)/PZ;
            if (idzi<0) {
                idzi=0;
                dzd=Minz-pk->z;
                dzu=dzd+PZ;//distance up z
                
            }
            
            else if  (idzi>nzint-1) {
                idzi=nzint-1;
                dzd=pk->z-(Minz+idzi*PZ);//distance up y
                dzu=dzd-PZ;
            }
            else{
                dzu=Minz+(idzi+1)*PZ-pk->z;//distance up y
                dzd=pk->z-(Minz+idzi*PZ);
            }
            
//             mexPrintf("Prima della prima foglia");
            
            //Search the first leaf
//             mexPrintf("Inside fuction\n");
            LeafSearchK
                    
//              mexPrintf("Dopo la prima foglia");
                    
                    c=1;
            do
            {     goon=false;
                  
                  //xdown
                  if  (dxd<mindist && idxi-c>-1)
                  {goon=true;
                   ic1=-c;
                   ii=-c;
                   for (jj=jc1;jj<=jc2;jj++)
                   {for (kk=kc1;kk<=kc2;kk++)
                        
                    { //leaf search
                        LeafSearchK
                                
                    }
                   }
                   dxd=dxd+PX;
                  }
                  
                  //xup
                  if  (dxu<mindist && idxi+c<nxint)
                  { goon=true;
                    ic2=c;
                    ii=c;
                    for (jj=jc1;jj<=jc2;jj++)
                    { for (kk=kc1;kk<=kc2;kk++)
                          
                      { //leaf search
                          LeafSearchK
                                  
                      }
                    }
                    dxu=dxu+PX;
                  }
                  
                  //yup
                  if  (dyu<mindist && idyi+c<nyint)
                  {goon=true;
                   jc2=c;
                   
                   jj=c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (kk=kc1;kk<=kc2;kk++)
                         
                     { //leaf search
                         
                         LeafSearchK
                                 
                     }
                   }
                   dyu=dyu+PY;
                  }
                  
                  //ydown
                  if  (dyd<mindist && idyi-c>-1)
                  {goon=true;
                   jc1=-c;
                   
                   jj=-c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (kk=kc1;kk<=kc2;kk++)
                         
                     { //leaf search
                         LeafSearchK
                                 
                                 
                     }
                   }
                   dyd=dyd+PY;
                  }
                  
                  //zdown
                  if  (dzd<mindist && idzi-c>-1)
                  {goon=true;
                   kc1=-c;
                   
                   kk=-c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (jj=jc1;jj<=jc2;jj++)
                         
                     { //leaf search
                         LeafSearchK
                                 
                                 
                     }
                   }
                   dzd=dzd+PZ;
                  }
                  
                  //zup
                  if  (dzu<mindist && idzi+c<nzint)
                  {goon=true;
                   kc2=c;
                   
                   kk=c;
                   for (ii=ic1;ii<=ic2;ii++)
                   { for (jj=jc1;jj<=jc2;jj++)
                         
                     { //leaf search
                         
                         LeafSearchK
                                 
                     }
                   }
                   dzu=dzu+PZ;
                  }
                  
                  c=c+1;
            }
            while (goon);

            return ;
        }