| 27 | } |
| 28 | |
| 29 | HashGrid::Ptr compute_vertex_grid(const MatrixFr& vertices, Float cell_size) { |
| 30 | const size_t dim = vertices.cols(); |
| 31 | const size_t num_vertices = vertices.rows(); |
| 32 | HashGrid::Ptr grid = HashGrid::create(cell_size, dim); |
| 33 | for (size_t i=0; i<num_vertices; i++) { |
| 34 | const VectorF& v = vertices.row(i); |
| 35 | grid->insert(i, v); |
| 36 | } |
| 37 | return grid; |
| 38 | } |
| 39 | |
| 40 | bool match(HashGrid::Ptr grid, const Vector3F& v) { |
| 41 | VectorI candidates = grid->get_items_near_point(v); |