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KnnGraph: replace flag table by set #104

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merged 2 commits into from
Oct 5, 2023
Merged

KnnGraph: replace flag table by set #104

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d3fd5a6
[SpatialPartitioning] Replace flag table by set
nmellado Aug 3, 2023
811115c
Update changelog
nmellado Oct 3, 2023
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2 changes: 2 additions & 0 deletions CHANGELOG
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,8 @@ Ponca changelog
--------------------------------------------------------------------------------
Current head (v.1.2 RC)

- API
- [spatialPartitioning] Optimize memory use in knngraph queries (#104)
- Examples
- Fix example cuda/ponca_ssgls (#109)

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15 changes: 7 additions & 8 deletions Ponca/src/SpatialPartitioning/KnnGraph/Query/knnGraphRangeQuery.h
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Expand Up @@ -11,6 +11,7 @@

#include <vector>
#include <stack>
#include <set>

namespace Ponca {
template <typename Traits> class KnnGraphBase;
Expand All @@ -33,7 +34,7 @@ class KnnGraphRangeQuery : public RangeIndexQuery<typename Traits::IndexType, ty
inline KnnGraphRangeQuery(const KnnGraphBase<Traits>* graph, Scalar radius, int index):
QueryType(radius, index),
m_graph(graph),
m_flag(graph->size()),
m_flag(),
m_stack() {}

public:
Expand All @@ -50,12 +51,11 @@ class KnnGraphRangeQuery : public RangeIndexQuery<typename Traits::IndexType, ty

protected:
inline void initialize(Iterator& iterator){
m_flag.resize(m_graph->size());
std::fill(m_flag.begin(), m_flag.end(), false);
m_flag.clear();
m_flag.insert(QueryType::input());

PONCA_DEBUG_ASSERT(m_stack.empty());
m_stack.push(QueryType::input());
m_flag[QueryType::input()] = true;

iterator.m_index = -1;
}
Expand Down Expand Up @@ -84,9 +84,8 @@ class KnnGraphRangeQuery : public RangeIndexQuery<typename Traits::IndexType, ty
PONCA_DEBUG_ASSERT(idx_nei>0);
Scalar d = (point - points[idx_nei].pos()).squaredNorm();
Scalar th = QueryType::descentDistanceThreshold();
if(!m_flag[idx_nei] && (point - points[idx_nei].pos()).squaredNorm() < QueryType::descentDistanceThreshold())
if((point - points[idx_nei].pos()).squaredNorm() < QueryType::descentDistanceThreshold() && m_flag.insert(idx_nei).second)
{
m_flag[idx_nei] = true;
m_stack.push(idx_nei);
}
}
Expand All @@ -96,8 +95,8 @@ class KnnGraphRangeQuery : public RangeIndexQuery<typename Traits::IndexType, ty

protected:
const KnnGraphBase<Traits>* m_graph {nullptr};
std::vector<bool> m_flag; ///< hold ids status (ids range from 0 to point cloud size)
std::stack<int> m_stack; ///< hold ids (ids range from 0 to point cloud size)
std::set<int> m_flag; ///< store visited ids
std::stack<int> m_stack; ///< hold ids (ids range from 0 to point cloud size)
};

} // namespace Ponca
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