A collection of c++11 Space Partitioning header-only templates for Cinder
This is a work in progress; currently only KdTree and Bin-lattice / Grid are available, but HashTable, Octree and BSPTree are on their way.
Basic Use:
Each classes share the same syntax for common tasks.
// Create a 3d KdTree of Node*
sp::KdTree3<Node*> kdTree;
// Create a custom 4d KdTree
sp::KdTree<4,float,Node*> node4dKdTree;
// Insert elements
for( auto node : mNodes ) {
auto userData = node->getId();
kdTree.insert( node->getPosition(), userData );
}
// Nearest neighbor search
auto nn = kdTree.nearestNeighborSearch( vec3( 0.0f ) );
// Nearest neighbor search and get the distance square to the position
float distSq;
nn = kdTree.nearestNeighborSearch( vec3( 1.0f, 2.0f, 3.0f ), &distSq );
// Range search
auto neighbors = kdTree.rangeSearch( vec3( 0.0f ), 35.0f );
for( auto neighbor : neighbors ) {
auto node = neighbor.first;
auto distSq = neighbor.second;
// ...
}
// Visitor Range search
auto neighbors = kdTree.rangeSearch( vec3( 0.0f ), 35.0f,
[]( KdTree3::Node* node, float distSq ) {
// ...
} );
KdTree:
A KdTree is a versatile space partitioning structure. They work in most situations and are really fast for nearest neighbor searches. If memory or insertion time is important they might not be the right choice. This implementation is not particulary optimised for range searches.
KdTrees come in the following flavors :
//! Represents a 2D float K-D Tree space partitioning structure
template<class DataT> using KdTree2 = KdTree<2,float,DataT>;
//! Represents a 3D float K-D Tree space partitioning structure
template<class DataT> using KdTree3 = KdTree<3,float,DataT>;
//! Represents a 2D double K-D Tree space partitioning structure
template<class DataT> using dKdTree2 = KdTree<2,double,DataT>;
//! Represents a 3D double K-D Tree space partitioning structure
template<class DataT> using dKdTree3 = KdTree<3,double,DataT>;Grid:
A Bin-Lattice spatial subdivision structure or uniform grid is easy and particulary fast. They clearly excel at range searches, usually have a small memory footprint and have fast insertion time. When it's not clear which structure to choose, Grid might be the first one to try. The choice of the k parameter is critical and might influence a lot the performance depending on the data. Providing the bounding rectangle or bounding box of the data is prefered if you need fast insertion. If you ommit the bounds parameters, insertion will obviously be much slower.
Grids come in the following flavors :
//! Represents a 2D float Grid / Bin-lattice space partitioning structure
template<class DataT> using Grid2 = Grid<2,float,DataT>;
//! Represents a 3D float Grid / Bin-lattice space partitioning structure
template<class DataT> using Grid3 = Grid<3,float,DataT>;
//! Represents a 2D double Grid / Bin-lattice space partitioning structure
template<class DataT> using dGrid2 = Grid<2,double,DataT>;
//! Represents a 3D double Grid / Bin-lattice space partitioning structure
template<class DataT> using dGrid3 = Grid<3,double,DataT>;Test suite:
Running test.cpp should output something along those lines. It might be usefull to run these tests with your own data as the results might changes drastically according its type and distribution.
2d Brute Force
Range search 3.22801ms 1990 neighbors
Nearest search 2.22701ms [ 0.055, 0.027]
_____________________________________________________________________________________________
KdTree2
Memory Footprint 38.147mb
Inserting 1000000 objects 731.91ms
Range Search 0.497997ms 1990 neighbors
Range Search lambda 0.222027ms 1990 neighbors
Nearest Search 0.00196695ms [ 0.055, 0.027]
Clearing structure 119.747ms
_____________________________________________________________________________________________
Grid2 k = 1
Memory Footprint 15.4923mb
Inserting 1000000 objects 93.623ms
Range Search 0.102997ms 1990 neighbors
Range Search lambda 0.0450015ms 1990 neighbors
Nearest Search 0.0119805ms [ 0.055, 0.027]
Clearing structure 86.762ms
_____________________________________________________________________________________________
Grid2 k = 2
Memory Footprint 15.3184mb
Inserting 1000000 objects 116.088ms
Range Search 0.102997ms 1990 neighbors
Range Search lambda 0.0609756ms 1990 neighbors
Nearest Search 0.00995398ms [ 0.055, 0.027]
Clearing structure 87.708ms
_____________________________________________________________________________________________
Grid2 k = 3
Memory Footprint 15.2743mb
Inserting 1000000 objects 117.888ms
Range Search 0.140011ms 1990 neighbors
Range Search lambda 0.115037ms 1990 neighbors
Nearest Search 0.145972ms [ 0.055, 0.027]
Clearing structure 92.24ms
_____________________________________________________________________________________________
Grid2 k = 4
Memory Footprint 15.2627mb
Inserting 1000000 objects 120.338ms
Range Search 0.141025ms 1990 neighbors
Range Search lambda 0.113964ms 1990 neighbors
Nearest Search 0.118971ms [ 0.055, 0.027]
Clearing structure 92.325ms
_____________________________________________________________________________________________
Unbounded-Grid2 k = 1
Memory Footprint 15.4923mb
Inserting 1000000 objects 297.285ms
Range Search 0.102997ms 1990 neighbors
Range Search lambda 0.0700355ms 1990 neighbors
Nearest Search 0.0090003ms [ 0.055, 0.027]
Clearing structure 90.626ms
_____________________________________________________________________________________________
3d Brute Force
Range search 1.97297ms 73 neighbors
Nearest search 1.90198ms [ 0.103, 0.016, 1.801]
_____________________________________________________________________________________________
KdTree3
Memory Footprint 38.147mb
Inserting 1000000 objects 1009.77ms
Range Search 0.0450015ms 73 neighbors
Range Search lambda 0.0160336ms 73 neighbors
Nearest Search 0.00196695ms [ 0.103, 0.016, 1.801]
Clearing structure 128.187ms
_____________________________________________________________________________________________
Grid3 k = 1
Memory Footprint 46.47mb
Inserting 1000000 objects 281.196ms
Range Search 0.0350475ms 73 neighbors
Range Search lambda 0.00798702ms 73 neighbors
Nearest Search 0.00202656ms [ 0.103, 0.016, 1.801]
Clearing structure 117.986ms
_____________________________________________________________________________________________
Grid3 k = 2
Memory Footprint 25.9244mb
Inserting 1000000 objects 277.803ms
Range Search 0.0240207ms 73 neighbors
Range Search lambda 0.00399351ms 73 neighbors
Nearest Search 0.00303984ms [ 0.103, 0.016, 1.801]
Clearing structure 95.844ms
_____________________________________________________________________________________________
Grid3 k = 3
Memory Footprint 23.2906mb
Inserting 1000000 objects 102.613ms
Range Search 0.0320077ms 73 neighbors
Range Search lambda 0.0100136ms 73 neighbors
Nearest Search 0.00298023ms [ 0.103, 0.016, 1.801]
Clearing structure 98.442ms
_____________________________________________________________________________________________
Grid3 k = 4
Memory Footprint 22.9386mb
Inserting 1000000 objects 151.011ms
Range Search 0.048995ms 73 neighbors
Range Search lambda 0.0529885ms 73 neighbors
Nearest Search 0.0169873ms [ 0.103, 0.016, 1.801]
Clearing structure 101.531ms
_____________________________________________________________________________________________
Unbounded-Grid3 k = 3
Memory Footprint 23.2906mb
Inserting 1000000 objects 378.761ms
Range Search 0.050962ms 73 neighbors
Range Search lambda 0.0370145ms 73 neighbors
Nearest Search 0.0370145ms [ 0.103, 0.016, 1.801]
Clearing structure 97.918ms
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