Added getPoint method

Author: mariusmuja

doc/manual.pdf

@@ -322,6 +322,8 @@ \subsubsection{flann::Index}
                        float rebuild_threshold = 2);
         
         void removePoint(size_t point_id);
+        
+        ElementType* getPoint(size_t point_id);
 
 	int knnSearch(const Matrix<ElementType>& queries, 
 		       Matrix<int>& indices, 
@@ -637,6 +639,12 @@ \subsubsection{flann::Index::removePoint}
 void removePoint(size_t point_id);
 \end{Verbatim}
 
+\subsubsection{flann::Index::getPoint}
+The \texttt{getPoint} method returns a pointer to the data point with the specified \texttt{point\_id}.
+
+\begin{Verbatim}[fontsize=\footnotesize,frame=single]
+ElementType* getPoint(size_t point_id);
+\end{Verbatim}
 
 \subsubsection{flann::Index::knnSearch}
 Performs a K-nearest neighbor search for a set of query points. There are two signatures for this

doc/manual.tex

@@ -149,6 +149,11 @@ class KDTreeCuda3dIndex : public NNIndex<Distance>
     	throw FLANNException( "removePoint not implemented for this index type!" );
     }
 
+    ElementType* getPoint(size_t id)
+    {
+    	return dataset_[id];
+    }
+
     void saveIndex(FILE* stream)
     {
         throw FLANNException( "Index saving not implemented!" );

src/cpp/flann/algorithms/kdtree_cuda_3d_index.h

@@ -157,31 +157,30 @@ class NNIndex : public IndexBase
     		last_id_ = size_;
     	}
 
-    	size_t point_index = id;
-    	if (ids_[point_index]!=id) {
-    		// binary search
-    		size_t start = 0;
-    		size_t end = size();
-
-    		while (start<end) {
-    			size_t mid = (start+end)/2;
-    			if (ids_[mid]==id) {
-    				point_index = mid;
-    				break;
-    			}
-    			else if (ids_[mid]<id) {
-    				start = mid + 1;
-    			}
-    			else {
-    				end = mid;
-    			}
-    		}
+    	size_t point_index = id_to_index(id);
+    	if (point_index!=size_t(-1)) {
+    		removed_points_.set(point_index);
     	}
-
-    	removed_points_.set(point_index);
     	removed_ = true;
     }
 
+
+    /**
+     * Get point with specific id
+     * @param id
+     * @return
+     */
+    virtual ElementType* getPoint(size_t id)
+    {
+    	size_t index = id_to_index(id);
+    	if (index!=size_t(-1)) {
+    		return points_[index];
+    	}
+    	else {
+    		return NULL;
+    	}
+    }
+
     /**
      * @return number of features in this index.
      */
@@ -683,6 +682,38 @@ class NNIndex : public IndexBase
 
 protected:
 
+    size_t id_to_index(size_t id)
+    {
+    	if (ids_.size()==0) {
+    		return id;
+    	}
+    	size_t point_index = size_t(-1);
+    	if (ids_[id]==id) {
+    		return id;
+    	}
+    	else {
+    		// binary search
+    		size_t start = 0;
+    		size_t end = size();
+
+    		while (start<end) {
+    			size_t mid = (start+end)/2;
+    			if (ids_[mid]==id) {
+    				point_index = mid;
+    				break;
+    			}
+    			else if (ids_[mid]<id) {
+    				start = mid + 1;
+    			}
+    			else {
+    				end = mid;
+    			}
+    		}
+    	}
+    	return point_index;
+    }
+
+
     void indices_to_ids(const size_t* in, size_t* out, size_t size) const
     {
 		if (removed_) {

src/cpp/flann/algorithms/nn_index.h

@@ -160,7 +160,20 @@ class Index
     	nnIndex_->removePoint(point_id);
     }
 
+    /**
+     * Returns pointer to a data point with the specified id.
+     * @param point_id the id of point to retrieve
+     * @return
+     */
+    ElementType* getPoint(size_t point_id)
+    {
+    	return nnIndex_->getPoint(point_id);
+    }
 
+    /**
+     * Save index to file
+     * @param filename
+     */
     void save(std::string filename)
     {
         FILE* fout = fopen(filename.c_str(), "wb");

src/cpp/flann/flann.hpp

@@ -53,6 +53,12 @@ TEST_F(KDTree_SIFT10K, TestIncremental)
     float precision = compute_precision(match, indices);
     EXPECT_GE(precision, 0.75);
     printf("Precision: %g\n", precision);
+
+    for (size_t i=0;i<indices.rows;++i) {
+        for (size_t j=0;j<indices.cols;++j) {
+        	EXPECT_EQ(index.getPoint(indices[i][j]), data[indices[i][j]]);
+        }
+    }
 }
 
 TEST_F(KDTree_SIFT10K, TestIncremental2)
@@ -74,6 +80,12 @@ TEST_F(KDTree_SIFT10K, TestIncremental2)
     float precision = compute_precision(match, indices);
     EXPECT_GE(precision, 0.75);
     printf("Precision: %g\n", precision);
+
+    for (size_t i=0;i<indices.rows;++i) {
+        for (size_t j=0;j<indices.cols;++j) {
+        	EXPECT_EQ(index.getPoint(indices[i][j]), data[indices[i][j]]);
+        }
+    }
 }
 
 
@@ -116,6 +128,7 @@ TEST_F(KDTree_SIFT10K, TestRemove)
         for (size_t j=0;j<indices.cols;++j) {
         	EXPECT_GE(indices[i][j], offset);
         	EXPECT_TRUE(neighbors.find(indices[i][j])==neighbors.end());
+        	EXPECT_EQ(index.getPoint(indices[i][j]), data[indices[i][j]]);
         }
     }
 
@@ -130,6 +143,7 @@ TEST_F(KDTree_SIFT10K, TestRemove)
 		for (size_t j=0;j<indices.cols;++j) {
 			EXPECT_GE(indices[i][j], offset);
 			EXPECT_TRUE(neighbors.find(indices[i][j])==neighbors.end());
+			EXPECT_EQ(index.getPoint(indices[i][j]), data[indices[i][j]]);
 		}
 	}
 }