#include <FlannIndex.h>

Public Member Functions
unsigned int	addPoints (const cv::Mat &features)
void	buildKDTreeIndex (const cv::Mat &features, int trees=4, bool useDistanceL1=false, float rebalancingFactor=2.0f)
void	buildKDTreeSingleIndex (const cv::Mat &features, int leafMaxSize=10, bool reorder=true, bool useDistanceL1=false, float rebalancingFactor=2.0f)
void	buildLinearIndex (const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)
void	buildLSHIndex (const cv::Mat &features, unsigned int table_number=12, unsigned int key_size=20, unsigned int multi_probe_level=2, float rebalancingFactor=2.0f)
int	featuresDim () const
int	featuresType () const
	FlannIndex ()
unsigned int	indexedFeatures () const
bool	isBuilt ()
void	knnSearch (const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const
unsigned int	memoryUsed () const
void	radiusSearch (const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const
void	release ()
void	removePoint (unsigned int index)
virtual	~FlannIndex ()
Private Attributes
std::map< int, cv::Mat >	addedDescriptors_
int	featuresDim_
int	featuresType_
void *	index_
bool	isLSH_
unsigned int	nextIndex_
float	rebalancingFactor_
std::list< int >	removedIndexes_
bool	useDistanceL1_

Detailed Description

Definition at line 37 of file FlannIndex.h.

Constructor & Destructor Documentation

rtabmap::FlannIndex::FlannIndex ( )

Definition at line 35 of file FlannIndex.cpp.

rtabmap::FlannIndex::~FlannIndex ( ) [virtual]

Definition at line 45 of file FlannIndex.cpp.

unsigned int rtabmap::FlannIndex::addPoints ( const cv::Mat & features )

Definition at line 310 of file FlannIndex.cpp.

void rtabmap::FlannIndex::buildKDTreeIndex	(	const cv::Mat &	features,
		int	trees = `4`,
		bool	useDistanceL1 = `false`,
		float	rebalancingFactor = `2.0f`
	)

Definition at line 183 of file FlannIndex.cpp.

void rtabmap::FlannIndex::buildKDTreeSingleIndex	(	const cv::Mat &	features,
		int	leafMaxSize = `10`,
		bool	reorder = `true`,
		bool	useDistanceL1 = `false`,
		float	rebalancingFactor = `2.0f`
	)

Definition at line 231 of file FlannIndex.cpp.

void rtabmap::FlannIndex::buildLinearIndex	(	const cv::Mat &	features,
		bool	useDistanceL1 = `false`,
		float	rebalancingFactor = `2.0f`
	)

Definition at line 136 of file FlannIndex.cpp.

void rtabmap::FlannIndex::buildLSHIndex	(	const cv::Mat &	features,
		unsigned int	table_number = `12`,
		unsigned int	key_size = `20`,
		unsigned int	multi_probe_level = `2`,
		float	rebalancingFactor = `2.0f`
	)

Definition at line 280 of file FlannIndex.cpp.

int rtabmap::FlannIndex::featuresDim ( ) const [inline]

Definition at line 75 of file FlannIndex.h.

int rtabmap::FlannIndex::featuresType ( ) const [inline]

Definition at line 74 of file FlannIndex.h.

unsigned int rtabmap::FlannIndex::indexedFeatures ( ) const

Definition at line 81 of file FlannIndex.cpp.

bool rtabmap::FlannIndex::isBuilt ( )

Definition at line 305 of file FlannIndex.cpp.

void rtabmap::FlannIndex::knnSearch	(	const cv::Mat &	query,
		cv::Mat &	indices,
		cv::Mat &	dists,
		int	knn,
		int	checks = `32`,
		float	eps = `0.0`,
		bool	sorted = `true`
	)		const

Definition at line 434 of file FlannIndex.cpp.

unsigned int rtabmap::FlannIndex::memoryUsed ( ) const

Definition at line 109 of file FlannIndex.cpp.

void rtabmap::FlannIndex::radiusSearch	(	const cv::Mat &	query,
		std::vector< std::vector< size_t > > &	indices,
		std::vector< std::vector< float > > &	dists,
		float	radius,
		int	maxNeighbors = `0`,
		int	checks = `32`,
		float	eps = `0.0`,
		bool	sorted = `true`
	)		const