/// <summary>
/// A top-down recursive method to find the nearest neighbors of a given point.
/// </summary>
/// <param name="nodeIndex">The index of the node for the current recursion branch.</param>
/// <param name="target">The point whose neighbors we are trying to find.</param>
/// <param name="rectCoordinate">The <see cref="HyperRectCoordinate{TDimension}"/> containing the possible nearest neighbors.</param>
/// <param name="dimension">The current splitting dimension for this recursion branch.</param>
/// <param name="nearestNeighbors">The <see cref="BoundedPriorityListCoordinate{TElement,TPriority}"/> containing the nearest neighbors already discovered.</param>
/// <param name="maxSearchRadiusSquared">The squared radius of the current largest distance to search from the <paramref name="target"/></param>
private void SearchForNearestNeighbors(
int nodeIndex,
TDimension target,
HyperRectCoordinate <TDimension> rectCoordinate,
int dimension,
BoundedPriorityListCoordinate <int, double> nearestNeighbors,
double maxSearchRadiusSquared)
{
if (this.InternalTreeOfPoints.Length <= nodeIndex || nodeIndex < 0 || this.InternalTreeOfPoints[nodeIndex] == null)
{
return;
}
// Work out the current dimension
var dim = dimension % this.Dimensions;
var leftRect = rectCoordinate.Clone();
var rightRect = rectCoordinate.Clone();
if (dim == 0)
{
leftRect.MaxPoint.Latitude = this.InternalTreeOfPoints[nodeIndex].Latitude;
rightRect.MinPoint.Latitude = this.InternalTreeOfPoints[nodeIndex].Latitude;
}
if (dim == 1)
{
leftRect.MaxPoint.Longitude = this.InternalTreeOfPoints[nodeIndex].Longitude;
rightRect.MinPoint.Longitude = this.InternalTreeOfPoints[nodeIndex].Longitude;
}
// Determine which side the target resides in
var compare = dim == 0 ? target.Latitude.CompareTo(this.InternalTreeOfPoints[nodeIndex].Latitude)
: target.Longitude.CompareTo(this.InternalTreeOfPoints[nodeIndex].Longitude);
var nearerRect = compare <= 0 ? leftRect : rightRect;
var furtherRect = compare <= 0 ? rightRect : leftRect;
var nearerNode = compare <= 0 ? BinaryTreeNavigationCoordinate.LeftChildIndex(nodeIndex) : BinaryTreeNavigationCoordinate.RightChildIndex(nodeIndex);
var furtherNode = compare <= 0 ? BinaryTreeNavigationCoordinate.RightChildIndex(nodeIndex) : BinaryTreeNavigationCoordinate.LeftChildIndex(nodeIndex);
// Move down into the nearer branch
this.SearchForNearestNeighbors(
nearerNode,
target,
nearerRect,
dimension + 1,
nearestNeighbors,
maxSearchRadiusSquared);
// Walk down into the further branch but only if our capacity hasn't been reached
// OR if there's a region in the further rectangle that's closer to the target than our
// current furtherest nearest neighbor
var closestPointInFurtherRect = furtherRect.GetClosestPoint(target);
var distanceSquaredToTarget = this.Metric(closestPointInFurtherRect, target);
if (distanceSquaredToTarget.CompareTo(maxSearchRadiusSquared) <= 0)
{
if (nearestNeighbors.IsFull)
{
if (distanceSquaredToTarget.CompareTo(nearestNeighbors.MaxPriority) < 0)
{
this.SearchForNearestNeighbors(
furtherNode,
target,
furtherRect,
dimension + 1,
nearestNeighbors,
maxSearchRadiusSquared);
}
}
else
{
this.SearchForNearestNeighbors(
furtherNode,
target,
furtherRect,
dimension + 1,
nearestNeighbors,
maxSearchRadiusSquared);
}
}
// Try to add the current node to our nearest neighbors list
distanceSquaredToTarget = this.Metric(this.InternalTreeOfPoints[nodeIndex], target);
if (distanceSquaredToTarget.CompareTo(maxSearchRadiusSquared) <= 0 && this.InternalTreeOfPoints[nodeIndex].Used == false)
{
nearestNeighbors.Add(nodeIndex, distanceSquaredToTarget);
}
}
/// <summary>
/// Grows a KD tree recursively via median splitting. We find the median by doing a full sort based on latitude.
/// </summary>
/// <param name="index">The array index for the current node.</param>
/// <param name="dim">The current splitting dimension.</param>
/// <param name="points">The set of points remaining to be added to the kd-tree</param>
/// <param name="nodes">The set of nodes RE</param>
private void GenerateTree(
int index,
int dim,
IReadOnlyCollection <TDimension> points)
{
// See wikipedia for a good explanation kd-tree construction.
// https://en.wikipedia.org/wiki/K-d_tree
// sort the points along the current dimension
var sortedPoints = dim == 0 ? points.OrderBy(p => p.Latitude).ToArray() : points.OrderBy(p => p.Longitude).ToArray();
// get the point which has the median value of the current dimension.
var medianPoint = sortedPoints[points.Count / 2];
var medianPointIndex = sortedPoints.Length / 2;
// The point with the median value all the current dimension now becomes the value of the current tree node
// The previous node becomes the parents of the current node.
this.InternalTreeOfPoints[index] = medianPoint;
// We now split the sorted points into 2 groups
// 1st group: points before the median
var leftPoints = new TDimension[medianPointIndex];
Array.Copy(sortedPoints.ToArray(), leftPoints, leftPoints.Length);
// 2nd group: Points after the median
var rightPoints = new TDimension[sortedPoints.Length - (medianPointIndex + 1)];
Array.Copy(sortedPoints.ToArray(), medianPointIndex + 1, rightPoints, 0, rightPoints.Length);
// We new recurse, passing the left and right arrays for arguments.
// The current node's left and right values become the "roots" for
// each recursion call. We also forward cycle to the next dimension.
var nextDim = (dim + 1) % this.Dimensions; // select next dimension
// We only need to recurse if the point array contains more than one point
// If the array has no points then the node stay a null value
if (leftPoints.Length <= 1)
{
if (leftPoints.Length == 1)
{
this.InternalTreeOfPoints[BinaryTreeNavigationCoordinate.LeftChildIndex(index)] = leftPoints[0];
}
}
else
{
this.GenerateTree(BinaryTreeNavigationCoordinate.LeftChildIndex(index), nextDim, leftPoints);
}
// Do the same for the right points
if (rightPoints.Length <= 1)
{
if (rightPoints.Length == 1)
{
this.InternalTreeOfPoints[BinaryTreeNavigationCoordinate.RightChildIndex(index)] = rightPoints[0];
}
}
else
{
this.GenerateTree(BinaryTreeNavigationCoordinate.RightChildIndex(index), nextDim, rightPoints);
}
}