Kd_tree_search.h

/*    This file is part of the Gudhi Library - https://gudhi.inria.fr/ - which is released under MIT.
 *    See file LICENSE or go to https://gudhi.inria.fr/licensing/ for full license details.
 *    Author(s):       Clement Jamin
 *
 *    Copyright (C) 2016 Inria
 *
 *    Modification(s):
 *      - 2019/08 Vincent Rouvreau: Fix issue #10 for CGAL and Eigen3
 *      - YYYY/MM Author: Description of the modification
 */

#ifndef KD_TREE_SEARCH_H_
#define KD_TREE_SEARCH_H_

#include <CGAL/Orthogonal_k_neighbor_search.h>
#include <CGAL/Orthogonal_incremental_neighbor_search.h>
#include <CGAL/Search_traits.h>
#include <CGAL/Search_traits_adapter.h>
#include <CGAL/Fuzzy_sphere.h>
#include <CGAL/property_map.h>
#include <CGAL/version.h>  // for CGAL_VERSION_NR

#include <Eigen/src/Core/util/Macros.h>  // for EIGEN_VERSION_AT_LEAST

#include <boost/property_map/property_map.hpp>
#include <boost/iterator/counting_iterator.hpp>

#include <cstddef>
#include <vector>

// Make compilation fail - required for external projects - https://github.com/GUDHI/gudhi-devel/issues/10
#if CGAL_VERSION_NR < 1041101000
# error Kd_tree_search is only available for CGAL >= 4.11
#endif

#if !EIGEN_VERSION_AT_LEAST(3,1,0)
# error Kd_tree_search is only available for Eigen3 >= 3.1.0 installed with CGAL
#endif

namespace Gudhi {
namespace spatial_searching {


template <typename Search_traits, typename Point_range>
class Kd_tree_search {
  typedef boost::iterator_property_map<
    typename Point_range::const_iterator,
    CGAL::Identity_property_map<std::ptrdiff_t> >           Point_property_map;

 public:
  typedef Search_traits                                     Traits;
  typedef typename Traits::FT                               FT;
  typedef typename Point_range::value_type                  Point;

  typedef CGAL::Search_traits<
    FT, Point,
    typename Traits::Cartesian_const_iterator_d,
    typename Traits::Construct_cartesian_const_iterator_d>  Traits_base;

  typedef CGAL::Search_traits_adapter<
    std::ptrdiff_t,
    Point_property_map,
    Traits_base>                                            STraits;
  typedef CGAL::Distance_adapter<
    std::ptrdiff_t,
    Point_property_map,
    CGAL::Euclidean_distance<Traits_base> >                 Orthogonal_distance;

  typedef CGAL::Orthogonal_k_neighbor_search<STraits>       K_neighbor_search;
  typedef typename K_neighbor_search::Tree                  Tree;
  typedef typename K_neighbor_search::Distance              Distance;
  typedef K_neighbor_search                                 KNS_range;

  typedef CGAL::Orthogonal_incremental_neighbor_search<
    STraits, Distance, CGAL::Sliding_midpoint<STraits>, Tree>
                                                   Incremental_neighbor_search;
  typedef Incremental_neighbor_search                       INS_range;

  typedef CGAL::Fuzzy_sphere<STraits>                       Fuzzy_sphere;
  Kd_tree_search(Point_range const& points)
  : m_points(points),
    m_tree(boost::counting_iterator<std::ptrdiff_t>(0),
           boost::counting_iterator<std::ptrdiff_t>(points.size()),
           typename Tree::Splitter(),
           STraits(std::begin(points))) {
    // Build the tree now (we don't want to wait for the first query)
    m_tree.build();
  }

  template <typename Point_indices_range>
  Kd_tree_search(
    Point_range const& points,
    Point_indices_range const& only_these_points)
    : m_points(points),
      m_tree(
        only_these_points.begin(), only_these_points.end(),
        typename Tree::Splitter(),
        STraits(std::begin(points))) {
    // Build the tree now (we don't want to wait for the first query)
    m_tree.build();
  }

  Kd_tree_search(
    Point_range const& points,
    std::size_t begin_idx, std::size_t past_the_end_idx)
  : m_points(points),
    m_tree(
      boost::counting_iterator<std::ptrdiff_t>(begin_idx),
      boost::counting_iterator<std::ptrdiff_t>(past_the_end_idx),
      typename Tree::Splitter(),
      STraits(std::begin(points))) {
    // Build the tree now (we don't want to wait for the first query)
    m_tree.build();
  }

  // Be careful, this function invalidates the tree,
  // which will be recomputed at the next query
  void insert(std::ptrdiff_t point_idx) {
    m_tree.insert(point_idx);
  }

  KNS_range k_nearest_neighbors(
    Point const& p,
    unsigned int k,
    bool sorted = true,
    FT eps = FT(0)) const {
    // Initialize the search structure, and search all N points
    // Note that we need to pass the Distance explicitly since it needs to
    // know the property map
    K_neighbor_search search(
      m_tree,
      p,
      k,
      eps,
      true,
      Orthogonal_distance(std::begin(m_points)), sorted);

    return search;
  }

  INS_range incremental_nearest_neighbors(Point const& p, FT eps = FT(0)) const {
    // Initialize the search structure, and search all N points
    // Note that we need to pass the Distance explicitly since it needs to
    // know the property map
    Incremental_neighbor_search search(
      m_tree,
      p,
      eps,
      true,
      Orthogonal_distance(std::begin(m_points)) );

    return search;
  }

  KNS_range k_furthest_neighbors(
    Point const& p,
    unsigned int k,
    bool sorted = true,
    FT eps = FT(0)) const {
    // Initialize the search structure, and search all N points
    // Note that we need to pass the Distance explicitly since it needs to
    // know the property map
    K_neighbor_search search(
      m_tree,
      p,
      k,
      eps,
      false,
      Orthogonal_distance(std::begin(m_points)), sorted);

    return search;
  }

  INS_range incremental_furthest_neighbors(Point const& p, FT eps = FT(0)) const {
    // Initialize the search structure, and search all N points
    // Note that we need to pass the Distance explicitly since it needs to
    // know the property map
    Incremental_neighbor_search search(
      m_tree,
      p,
      eps,
      false,
      Orthogonal_distance(std::begin(m_points)) );

    return search;
  }

  template <typename OutputIterator>
  void all_near_neighbors(Point const& p,
                   FT radius,
                   OutputIterator it,
                   FT eps = FT(0)) const {
    m_tree.search(it, Fuzzy_sphere(p, radius, eps, m_tree.traits()));
  }

  int tree_depth() const {
    return m_tree.root()->depth();
  }

 private:
  Point_range const& m_points;
  Tree m_tree;
};

}  // namespace spatial_searching
}  // namespace Gudhi

#endif  // KD_TREE_SEARCH_H_