simplify kdtree construction

CMakeLists.txt

@@ -11,7 +11,7 @@ project(Easy3D)
 
 set(EASY3D_MAJOR_VERSION 2)
 set(EASY3D_MINOR_VERSION 4)
-set(EASY3D_PATCH_VERSION 8)
+set(EASY3D_PATCH_VERSION 9)
 set(EASY3D_VERSION "${EASY3D_MAJOR_VERSION}.${EASY3D_MINOR_VERSION}.${EASY3D_PATCH_VERSION}")
 
 ################################################################################

applications/Mapple/dialogs/dialog_point_cloud_simplification.cpp

@@ -109,10 +109,7 @@ void DialogPointCloudSimplification::constructKdTree() {
     if (cloud) {
         if (kdtree_)
             delete kdtree_;
-        kdtree_ = new KdTreeSearch_ETH;
-        kdtree_->begin();
-        kdtree_->add_point_cloud(cloud);
-        kdtree_->end();
+        kdtree_ = new KdTreeSearch_ETH(cloud);
     }
 }
 

easy3d/algo/point_cloud_normals.cpp

@@ -60,10 +60,7 @@ namespace easy3d {
         w.start();
 
         LOG(INFO) << "building kd_tree...";
-        KdTreeSearch_NanoFLANN kdtree;
-        kdtree.begin();
-        kdtree.add_point_cloud(cloud);
-        kdtree.end();
+        KdTreeSearch_NanoFLANN kdtree(cloud);
         LOG(INFO) << "done. " << w.time_string();
 
         int num = cloud->n_vertices();
@@ -388,10 +385,7 @@ namespace easy3d {
         w.start();
 
         LOG(INFO) << "building kd_tree...";
-        KdTreeSearch_NanoFLANN kdtree;
-        kdtree.begin();
-        kdtree.add_point_cloud(cloud);
-        kdtree.end();
+        KdTreeSearch_NanoFLANN kdtree(cloud);
         LOG(INFO) << "done. " << w.time_string();
 
         w.restart();

easy3d/algo/point_cloud_simplification.cpp

@@ -41,10 +41,7 @@ namespace easy3d {
         KdTreeSearch *kdtree = tree;
         bool need_delete(false);
         if (!kdtree) {
-            kdtree = new KdTreeSearch_ETH;
-            kdtree->begin();
-            kdtree->add_point_cloud(cloud);
-            kdtree->end();
+            kdtree = new KdTreeSearch_ETH(cloud);
             need_delete = true;
         }
 
@@ -164,10 +161,7 @@ namespace easy3d {
         KdTreeSearch *kdtree = tree;
         bool need_delete(false);
         if (!kdtree) {
-            kdtree = new KdTreeSearch_ETH;
-            kdtree->begin();
-            kdtree->add_point_cloud(cloud);
-            kdtree->end();
+            kdtree = new KdTreeSearch_ETH(cloud);
             need_delete = true;
         }
 
@@ -244,10 +238,7 @@ namespace easy3d {
             if (expected_num >= num)
                 return points_to_delete;    // expected num is greater than / equal to given number.
 
-            KdTreeSearch_ETH kdtree;
-            kdtree.begin();
-            kdtree.add_point_cloud(cloud);
-            kdtree.end();
+            KdTreeSearch_ETH kdtree(cloud);
 
             // the average squared distance to its nearest neighbor; smaller value means highter density
             std::vector<float> sqr_distance(cloud->n_vertices());

easy3d/kdtree/kdtree_search.cpp

@@ -30,7 +30,7 @@
 namespace easy3d {
 
 
-    KdTreeSearch::KdTreeSearch()
+    KdTreeSearch::KdTreeSearch(const PointCloud *cloud)
     {
     }
 

easy3d/kdtree/kdtree_search.h

@@ -79,27 +79,13 @@ namespace easy3d {
 
     class KdTreeSearch {
     public:
-        KdTreeSearch();
-
-        virtual ~KdTreeSearch();
-
-        /// \name Tree construction
-        /// @{
         /**
-         * \brief Begins the construction of a KdTree.
+         * \brief Constructor.
+         * \param cloud The point cloud for which a KdTree will be constructed.
          */
-        virtual void begin() = 0;
+        KdTreeSearch(const PointCloud *cloud);
 
-        /**
-         * \brief Sets the point cloud for which a KdTree will be constructed.
-         */
-        virtual void add_point_cloud(PointCloud *cloud) = 0;
-
-        /**
-         * \brief Finalizes the construction of a KdTree.
-         */
-        virtual void end() = 0;
-        /// @}
+        virtual ~KdTreeSearch();
 
         /// \name Closest point query
         /// @{

easy3d/kdtree/kdtree_search_ann.cpp

@@ -43,32 +43,33 @@ using namespace ANN;
 
 namespace easy3d {
 
-    KdTreeSearch_ANN::KdTreeSearch_ANN()  {
-        points_ = nullptr;
-        points_num_ = 0;
-        tree_ = nullptr;
+    KdTreeSearch_ANN::KdTreeSearch_ANN(const PointCloud *cloud) : KdTreeSearch(cloud) {
         k_for_radius_search_ = 32;
         LOG(INFO) << "KdTreeSearch_ANN: k = 32 for radius search";
-    }
-
 
-    KdTreeSearch_ANN::~KdTreeSearch_ANN() {
+        // prepare data
+        points_num_ = int(cloud->n_vertices());
 #if COPY_POINT_CLOUD // make a copy of the point cloud when constructing the kd-tree
-        if (points_)
-            annDeallocPts(points_);
+        points_ = annAllocPts(points_num_, 3);
+        const std::vector<vec3>& pts = cloud->points();
+        for (int i = 0; i < points_num_; ++i) {
+            const vec3& p = pts[i];
+            points_[i][0] = p[0];
+            points_[i][1] = p[1];
+            points_[i][2] = p[2];
+        }
 #else
-        if (points_)
-            delete[] points_;
+        points_ = new float*[points_num_];
+        const std::vector<vec3>& pts = cloud->points();
+        for (int i = 0; i < points_num_; ++i)
+            points_[i] = const_cast<float *>(pts[i].data());
 #endif
-
-        delete get_tree(tree_);
-        annClose();
+        // create tree
+        tree_ = new ANNkd_tree(const_cast<float **>(points_), points_num_, 3);
     }
 
 
-    void KdTreeSearch_ANN::begin()  {
-        points_num_ = 0;
-
+    KdTreeSearch_ANN::~KdTreeSearch_ANN() {
 #if COPY_POINT_CLOUD // make a copy of the point cloud when constructing the kd-tree
         if (points_)
             annDeallocPts(points_);
@@ -78,33 +79,7 @@ namespace easy3d {
 #endif
 
         delete get_tree(tree_);
-        tree_ = nullptr;
-    }
-
-
-    void KdTreeSearch_ANN::end()  {
-        tree_ = new ANNkd_tree(points_, points_num_, 3);
-    }
-
-
-    void KdTreeSearch_ANN::add_point_cloud(PointCloud* cloud)  {
-        points_num_ = int(cloud->n_vertices());
-
-#if COPY_POINT_CLOUD // make a copy of the point cloud when constructing the kd-tree
-        points_ = annAllocPts(points_num_, 3);
-        const std::vector<vec3>& pts = cloud->points();
-        for (int i = 0; i < points_num_; ++i) {
-            const vec3& p = pts[i];
-            points_[i][0] = p[0];
-            points_[i][1] = p[1];
-            points_[i][2] = p[2];
-        }
-#else
-        points_ = new float*[points_num_];
-        std::vector<vec3>& pts = cloud->points();
-        for (int i = 0; i < points_num_; ++i)
-            points_[i] = pts[i];
-#endif
+        annClose();
     }
 
 

easy3d/kdtree/kdtree_search_ann.h

@@ -41,28 +41,13 @@ namespace easy3d {
      */
     class KdTreeSearch_ANN : public KdTreeSearch {
     public:
-        KdTreeSearch_ANN();
-
-        ~KdTreeSearch_ANN() override;
-
-
-        /// \name Tree construction
-        /// @{
-        /**
-         * \brief Begins the construction of a KdTree.
-         */
-        void begin() override;
-
         /**
-         * \brief Sets the point cloud for which a KdTree will be constructed.
+         * \brief Constructor.
+         * \param cloud The point cloud for which a KdTree will be constructed.
          */
-        void add_point_cloud(PointCloud *cloud) override;
+        KdTreeSearch_ANN(const PointCloud *cloud);
 
-        /**
-         * \brief Finalizes the construction of a KdTree.
-         */
-        void end() override;
-        /// @}
+        ~KdTreeSearch_ANN() override;
 
         /// \name Closest point query
         /// @{

easy3d/kdtree/kdtree_search_eth.cpp

@@ -35,41 +35,24 @@
 
 namespace easy3d {
 
-    KdTreeSearch_ETH::KdTreeSearch_ETH()  {
-        points_num_ = 0;
-        points_ = nullptr;
-        tree_ = nullptr;
-    }
-
+    KdTreeSearch_ETH::KdTreeSearch_ETH(const PointCloud *cloud) : KdTreeSearch(cloud) {
+        // prepare data
+        points_num_ = int(cloud->n_vertices());
+        const std::vector<vec3>& points = cloud->points();
+        points_ = const_cast<float *>(points[0].data());
 
-    KdTreeSearch_ETH::~KdTreeSearch_ETH() {
-        delete get_tree(tree_);
-        points_ = nullptr;
+        // create tree
+        const int maxBucketSize = 16 ;	// number of points per bucket
+        tree_ = new kdtree::KdTree(reinterpret_cast<kdtree::Vector3D*>(points_), points_num_, maxBucketSize);
     }
 
 
-    void KdTreeSearch_ETH::begin()  {
+    KdTreeSearch_ETH::~KdTreeSearch_ETH() {
         delete get_tree(tree_);
-        tree_ = nullptr;
-
-        points_num_ = 0;
         points_ = nullptr;
     }
 
 
-    void KdTreeSearch_ETH::end()  {
-        int maxBucketSize = 16 ;	// number of points per bucket
-        tree_ = new kdtree::KdTree(reinterpret_cast<kdtree::Vector3D*>(points_), points_num_, maxBucketSize);
-    }
-
-
-    void KdTreeSearch_ETH::add_point_cloud(PointCloud* cloud)  {
-        points_num_ = int(cloud->n_vertices());
-        std::vector<vec3>& points = cloud->points();
-        points_ = points[0];
-    }
-
-
     int KdTreeSearch_ETH::find_closest_point(const vec3& p) const {
         kdtree::Vector3D v3d( p.x, p.y, p.z );
         get_tree(tree_)->setNOfNeighbours( 1 );

easy3d/kdtree/kdtree_search_eth.h

@@ -41,27 +41,13 @@ namespace easy3d {
      */
     class KdTreeSearch_ETH : public KdTreeSearch {
     public:
-        KdTreeSearch_ETH();
-
-        virtual ~KdTreeSearch_ETH();
-
-        /// \name Tree construction
-        /// @{
         /**
-         * \brief Begins the construction of a KdTree.
+         * \brief Constructor.
+         * \param cloud The point cloud for which a KdTree will be constructed.
          */
-        virtual void begin();
+        KdTreeSearch_ETH(const PointCloud *cloud);
 
-        /**
-         * \brief Sets the point cloud for which a KdTree will be constructed.
-         */
-        virtual void add_point_cloud(PointCloud *cloud);
-
-        /**
-         * \brief Finalizes the construction of a KdTree.
-         */
-        virtual void end();
-        /// @}
+        virtual ~KdTreeSearch_ETH();
 
         /// \name Closest point query
         /// @{

easy3d/kdtree/kdtree_search_flann.cpp

@@ -34,46 +34,31 @@
 
 namespace easy3d {
 
-    KdTreeSearch_FLANN::KdTreeSearch_FLANN()  {
-        points_ = nullptr;
-        points_num_ = 0;
-        tree_ = nullptr;
-
+    KdTreeSearch_FLANN::KdTreeSearch_FLANN(const PointCloud *cloud) : KdTreeSearch(cloud) {
         //checks_ = 32;
         checks_ = flann::FLANN_CHECKS_AUTOTUNED;
-    }
-
-
-    KdTreeSearch_FLANN::~KdTreeSearch_FLANN() {
-        delete get_tree(tree_);
-    }
-
-
-    void KdTreeSearch_FLANN::set_checks(int chk) {
-        checks_ = chk;
-    }
-
-    void KdTreeSearch_FLANN::begin()  {
-        delete get_tree(tree_);
-        tree_ = nullptr;
-    }
 
+        // prepare data
+        points_num_ = int(cloud->n_vertices());
+        const std::vector<vec3>& points = cloud->points();
+        points_ = const_cast<float *>(points[0].data());
 
-    void KdTreeSearch_FLANN::end()  {
+        // create tree
         flann::Matrix<float> dataset(points_, points_num_, 3);
-
         // construct a single kd-tree optimized for searching lower dimensionality data
         flann::Index< flann::L2<float> >* tree = new flann::Index< flann::L2<float> >(dataset, flann::KDTreeSingleIndexParams());
         tree->buildIndex();
-
         tree_ = tree;
     }
 
 
-    void KdTreeSearch_FLANN::add_point_cloud(PointCloud* cloud)  {
-        points_num_ = int(cloud->n_vertices());
-        std::vector<vec3>& points = cloud->points();
-        points_ = points[0];
+    KdTreeSearch_FLANN::~KdTreeSearch_FLANN() {
+        delete get_tree(tree_);
+    }
+
+
+    void KdTreeSearch_FLANN::set_checks(int chk) {
+        checks_ = chk;
     }