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Merge pull request #36 from tataratat/ft-update-nanoflann
update nanoflann
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1 @@ | ||
| version = "0.0.7" | ||
| version = "0.0.8" |
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Submodule nanoflann
updated
21 files
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -3,7 +3,7 @@ | |
| * | ||
| * Copyright 2008-2009 Marius Muja ([email protected]). All rights reserved. | ||
| * Copyright 2008-2009 David G. Lowe ([email protected]). All rights reserved. | ||
| * Copyright 2011-2023 Jose Luis Blanco ([email protected]). | ||
| * Copyright 2011-2024 Jose Luis Blanco ([email protected]). | ||
| * All rights reserved. | ||
| * | ||
| * THE BSD LICENSE | ||
|
|
@@ -49,8 +49,8 @@ | |
| #include <atomic> | ||
| #include <cassert> | ||
| #include <cmath> // for abs() | ||
| #include <cstdlib> // for abs() | ||
| #include <cstdint> | ||
| #include <cstdlib> // for abs() | ||
| #include <functional> // std::reference_wrapper | ||
| #include <future> | ||
| #include <istream> | ||
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@@ -61,7 +61,7 @@ | |
| #include <vector> | ||
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| /** Library version: 0xMmP (M=Major,m=minor,P=patch) */ | ||
| #define NANOFLANN_VERSION 0x151 | ||
| #define NANOFLANN_VERSION 0x155 | ||
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| // Avoid conflicting declaration of min/max macros in Windows headers | ||
| #if !defined(NOMINMAX) && \ | ||
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@@ -273,8 +273,7 @@ class RKNNResultSet | |
| indices = indices_; | ||
| dists = dists_; | ||
| count = 0; | ||
| if (capacity) | ||
| dists[capacity - 1] = maximumSearchDistanceSquared; | ||
| if (capacity) dists[capacity - 1] = maximumSearchDistanceSquared; | ||
| } | ||
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| CountType size() const { return count; } | ||
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@@ -832,7 +831,7 @@ struct SearchParameters | |
| */ | ||
| class PooledAllocator | ||
| { | ||
| static constexpr size_t WORDSIZE = 16; //WORDSIZE must >= 8 | ||
| static constexpr size_t WORDSIZE = 16; // WORDSIZE must >= 8 | ||
| static constexpr size_t BLOCKSIZE = 8192; | ||
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| /* We maintain memory alignment to word boundaries by requiring that all | ||
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@@ -903,9 +902,7 @@ class PooledAllocator | |
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| /* Allocate new storage. */ | ||
| const Size blocksize = | ||
| size > BLOCKSIZE | ||
| ? size + WORDSIZE | ||
| : BLOCKSIZE + WORDSIZE; | ||
| size > BLOCKSIZE ? size + WORDSIZE : BLOCKSIZE + WORDSIZE; | ||
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| // use the standard C malloc to allocate memory | ||
| void* m = ::malloc(blocksize); | ||
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@@ -920,7 +917,7 @@ class PooledAllocator | |
| base_ = m; | ||
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| remaining_ = blocksize - WORDSIZE; | ||
| loc_ = static_cast<char*>(m) + WORDSIZE; | ||
| loc_ = static_cast<char*>(m) + WORDSIZE; | ||
| } | ||
| void* rloc = loc_; | ||
| loc_ = static_cast<char*>(loc_) + size; | ||
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@@ -1229,28 +1226,13 @@ class KDTreeBaseClass | |
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| node->node_type.sub.divfeat = cutfeat; | ||
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| std::future<NodePtr> left_future, right_future; | ||
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| BoundingBox left_bbox(bbox); | ||
| left_bbox[cutfeat].high = cutval; | ||
| if (++thread_count < n_thread_build_) | ||
| { | ||
| left_future = std::async( | ||
| std::launch::async, &KDTreeBaseClass::divideTreeConcurrent, | ||
| this, std::ref(obj), left, left + idx, std::ref(left_bbox), | ||
| std::ref(thread_count), std::ref(mutex)); | ||
| } | ||
| else | ||
| { | ||
| --thread_count; | ||
| node->child1 = this->divideTreeConcurrent( | ||
| obj, left, left + idx, left_bbox, thread_count, mutex); | ||
| } | ||
| std::future<NodePtr> right_future; | ||
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| BoundingBox right_bbox(bbox); | ||
| right_bbox[cutfeat].low = cutval; | ||
| if (++thread_count < n_thread_build_) | ||
| { | ||
| // Concurrent right sub-tree | ||
| right_future = std::async( | ||
| std::launch::async, &KDTreeBaseClass::divideTreeConcurrent, | ||
| this, std::ref(obj), left + idx, right, | ||
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@@ -1260,20 +1242,24 @@ class KDTreeBaseClass | |
| else | ||
| { | ||
| --thread_count; | ||
| node->child2 = this->divideTreeConcurrent( | ||
| obj, left + idx, right, right_bbox, thread_count, mutex); | ||
| } | ||
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||
| if (left_future.valid()) | ||
| { | ||
| node->child1 = left_future.get(); | ||
| --thread_count; | ||
| } | ||
| BoundingBox left_bbox(bbox); | ||
| left_bbox[cutfeat].high = cutval; | ||
| node->child1 = this->divideTreeConcurrent( | ||
| obj, left, left + idx, left_bbox, thread_count, mutex); | ||
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||
| if (right_future.valid()) | ||
| { | ||
| // Block and wait for concurrent right sub-tree | ||
| node->child2 = right_future.get(); | ||
| --thread_count; | ||
| } | ||
| else | ||
| { | ||
| node->child2 = this->divideTreeConcurrent( | ||
| obj, left + idx, right, right_bbox, thread_count, mutex); | ||
| } | ||
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| node->node_type.sub.divlow = left_bbox[cutfeat].high; | ||
| node->node_type.sub.divhigh = right_bbox[cutfeat].low; | ||
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@@ -1302,7 +1288,7 @@ class KDTreeBaseClass | |
| } | ||
| ElementType max_spread = -1; | ||
| cutfeat = 0; | ||
| ElementType min_elem = 0, max_elem = 0; | ||
| ElementType min_elem = 0, max_elem = 0; | ||
| for (Dimension i = 0; i < dims; ++i) | ||
| { | ||
| ElementType span = bbox[i].high - bbox[i].low; | ||
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@@ -1315,8 +1301,8 @@ class KDTreeBaseClass | |
| { | ||
| cutfeat = i; | ||
| max_spread = spread; | ||
| min_elem = min_elem_; | ||
| max_elem = max_elem_; | ||
| min_elem = min_elem_; | ||
| max_elem = max_elem_; | ||
| } | ||
| } | ||
| } | ||
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@@ -1641,10 +1627,14 @@ class KDTreeSingleIndexAdaptor | |
| } | ||
| else | ||
| { | ||
| #ifndef NANOFLANN_NO_THREADS | ||
| std::atomic<unsigned int> thread_count(0u); | ||
| std::mutex mutex; | ||
| Base::root_node_ = this->divideTreeConcurrent( | ||
| *this, 0, Base::size_, Base::root_bbox_, thread_count, mutex); | ||
| #else /* NANOFLANN_NO_THREADS */ | ||
| throw std::runtime_error("Multithreading is disabled"); | ||
| #endif /* NANOFLANN_NO_THREADS */ | ||
| } | ||
| } | ||
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@@ -2104,10 +2094,14 @@ class KDTreeSingleIndexDynamicAdaptor_ | |
| } | ||
| else | ||
| { | ||
| #ifndef NANOFLANN_NO_THREADS | ||
| std::atomic<unsigned int> thread_count(0u); | ||
| std::mutex mutex; | ||
| Base::root_node_ = this->divideTreeConcurrent( | ||
| *this, 0, Base::size_, Base::root_bbox_, thread_count, mutex); | ||
| #else /* NANOFLANN_NO_THREADS */ | ||
| throw std::runtime_error("Multithreading is disabled"); | ||
| #endif /* NANOFLANN_NO_THREADS */ | ||
| } | ||
| } | ||
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