nanoflann/examples/vector_of_vectors_example.cpp at master · jlblancoc/nanoflann

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# include < nanoflann.hpp >

using namespace nanoflann ;

# include < cstdlib >

# include < ctime >

# include < iostream >

# include " KDTreeVectorOfVectorsAdaptor.h "

const int SAMPLES_DIM = 15 ;

typedef std::vector<std::vector< double >> my_vector_of_vectors_t ;

void generateRandomPointCloud (

my_vector_of_vectors_t & samples, const size_t N, const size_t dim,

const double max_range = 10.0 )

{

std::cout << " Generating " << N << " random points... " ;

samples. resize (N);

for ( size_t i = 0 ; i < N; i++)

{

samples[i]. resize (dim);

for ( size_t d = 0 ; d < dim; d++)

samples[i][d] = max_range * ( rand () % 1000 ) / ( 1000.0 );

}

std::cout << " done \n " ;

}

void kdtree_demo ( const size_t nSamples, const size_t dim)

{

my_vector_of_vectors_t samples;

const double max_range = 20 ;

// Generate points:

generateRandomPointCloud (samples, nSamples, dim, max_range);

// Query point:

std::vector< double > query_pt (dim);

for ( size_t d = 0 ; d < dim; d++)

query_pt[d] = max_range * ( rand () % 1000 ) / ( 1000.0 );

// construct a kd-tree index:

// Dimensionality set at run-time (default: L2)

// ------------------------------------------------------------

typedef KDTreeVectorOfVectorsAdaptor< my_vector_of_vectors_t , double >

my_kd_tree_t ;

my_kd_tree_t mat_index (dim /* dim */ , samples, 10 /* max leaf */ );

// do a knn search

const size_t num_results = 3 ;

std::vector< size_t > ret_indexes (num_results);

std::vector< double > out_dists_sqr (num_results);

nanoflann::KNNResultSet< double > resultSet (num_results);

resultSet. init (&ret_indexes[ 0 ], &out_dists_sqr[ 0 ]);

mat_index. index -> findNeighbors (resultSet, &query_pt[ 0 ]);

std::cout << " knnSearch(nn= " << num_results << " ): \n " ;

for ( size_t i = 0 ; i < resultSet. size (); i++)

std::cout << " ret_index[ " << i << " ]= " << ret_indexes[i]

<< " out_dist_sqr= " << out_dists_sqr[i] << std::endl;

}

int main ()

{

// Randomize Seed

srand ( static_cast < unsigned int >( time ( nullptr )));

kdtree_demo ( 1000 /* samples */ , SAMPLES_DIM /* dim */ );

}