nabo_experimental.h
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1 /*
2 
3 Copyright (c) 2010--2011, Stephane Magnenat, ASL, ETHZ, Switzerland
4 You can contact the author at <stephane at magnenat dot net>
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6 All rights reserved.
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30 */
31 
32 #ifndef __NABO_EXPERIMENTAL_H
33 #define __NABO_EXPERIMENTAL_H
34 
35 #include "../nabo/nabo_private.h"
36 #include "../nabo/index_heap.h"
37 
38 namespace Nabo
39 {
40  // KDTree, balanced, points in nodes
41  template<typename T, typename CloudType>
42  struct KDTreeBalancedPtInNodes:public NearestNeighbourSearch<T, CloudType>
43  {
44  typedef typename NearestNeighbourSearch<T, CloudType>::Vector Vector;
45  typedef typename NearestNeighbourSearch<T, CloudType>::Matrix Matrix;
46  typedef typename NearestNeighbourSearch<T, CloudType>::Index Index;
47  typedef typename NearestNeighbourSearch<T, CloudType>::IndexVector IndexVector;
48 
49  protected:
50  struct BuildPoint
51  {
52  Vector pos;
53  size_t index;
54  BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {}
55  };
56  typedef std::vector<BuildPoint> BuildPoints;
57  typedef typename BuildPoints::iterator BuildPointsIt;
58  typedef typename BuildPoints::const_iterator BuildPointsCstIt;
59 
60  struct CompareDim
61  {
62  size_t dim;
63  CompareDim(const size_t dim):dim(dim){}
64  bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); }
65  };
66 
67  struct Node
68  {
69  Vector pos;
70  int dim; // -1 == leaf, -2 == invalid
71  Index index;
72  Node(const Vector& pos = Vector(), const int dim = -2, const Index index = 0):pos(pos), dim(dim), index(index) {}
73  };
74  typedef std::vector<Node> Nodes;
75 
76  Nodes nodes;
77 
78  inline size_t childLeft(size_t pos) const { return 2*pos + 1; }
79  inline size_t childRight(size_t pos) const { return 2*pos + 2; }
80  inline size_t parent(size_t pos) const { return (pos-1)/2; }
81  size_t getTreeSize(size_t size) const;
82  IndexVector cloudIndexesFromNodesIndexes(const IndexVector& indexes) const;
83  void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos);
84  void dump(const Vector minValues, const Vector maxValues, const size_t pos) const;
85 
86  protected:
87  KDTreeBalancedPtInNodes(const CloudType& cloud);
88  };
89 
90  // KDTree, balanced, points in nodes, priority queue
91  template<typename T, typename CloudType>
92  struct KDTreeBalancedPtInNodesPQ: public KDTreeBalancedPtInNodes<T, CloudType>
93  {
94  typedef typename NearestNeighbourSearch<T, CloudType>::Vector Vector;
95  typedef typename NearestNeighbourSearch<T, CloudType>::Matrix Matrix;
96  typedef typename NearestNeighbourSearch<T, CloudType>::Index Index;
97  typedef typename NearestNeighbourSearch<T, CloudType>::IndexVector IndexVector;
98  typedef typename KDTreeBalancedPtInNodes<T, CloudType>::Node Node;
99  typedef typename KDTreeBalancedPtInNodes<T, CloudType>::Nodes Nodes;
100 
101  using NearestNeighbourSearch<T, CloudType>::statistics;
102  using KDTreeBalancedPtInNodes<T, CloudType>::nodes;
103  using KDTreeBalancedPtInNodes<T, CloudType>::childLeft;
104  using KDTreeBalancedPtInNodes<T, CloudType>::childRight;
105 
106  protected:
107  struct SearchElement
108  {
109  size_t index;
110  T minDist;
111 
112  SearchElement(const size_t index, const T minDist): index(index), minDist(minDist) {}
113  // invert test as std::priority_queue shows biggest element at top
114  friend bool operator<(const SearchElement& e0, const SearchElement& e1) { return e0.minDist > e1.minDist; }
115  };
116 
117  public:
118  KDTreeBalancedPtInNodesPQ(const CloudType& cloud);
119  virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags);
120  };
121 
122  // KDTree, balanced, points in nodes, stack
123  template<typename T, typename CloudType>
124  struct KDTreeBalancedPtInNodesStack: public KDTreeBalancedPtInNodes<T, CloudType>
125  {
126  typedef typename NearestNeighbourSearch<T, CloudType>::Vector Vector;
127  typedef typename NearestNeighbourSearch<T, CloudType>::Matrix Matrix;
128  typedef typename NearestNeighbourSearch<T, CloudType>::Index Index;
129  typedef typename NearestNeighbourSearch<T, CloudType>::IndexVector IndexVector;
130  typedef typename KDTreeBalancedPtInNodes<T, CloudType>::Node Node;
131  typedef typename KDTreeBalancedPtInNodes<T, CloudType>::Nodes Nodes;
132 
133  using NearestNeighbourSearch<T, CloudType>::statistics;
134  using KDTreeBalancedPtInNodes<T, CloudType>::nodes;
135  using KDTreeBalancedPtInNodes<T, CloudType>::childLeft;
136  using KDTreeBalancedPtInNodes<T, CloudType>::childRight;
137 
138  typedef IndexHeapSTL<Index, T> Heap;
139 
140  protected:
141  void recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch);
142 
143  public:
144  KDTreeBalancedPtInNodesStack(const CloudType& cloud);
145  virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags);
146  };
147 
148 
149  // KDTree, balanced, points in leaves, stack
150  template<typename T, typename CloudType>
151  struct KDTreeBalancedPtInLeavesStack: public NearestNeighbourSearch<T, CloudType>
152  {
153  typedef typename NearestNeighbourSearch<T, CloudType>::Vector Vector;
154  typedef typename NearestNeighbourSearch<T, CloudType>::Matrix Matrix;
155  typedef typename NearestNeighbourSearch<T, CloudType>::Index Index;
156  typedef typename NearestNeighbourSearch<T, CloudType>::IndexVector IndexVector;
157 
158  using NearestNeighbourSearch<T, CloudType>::statistics;
159  using NearestNeighbourSearch<T, CloudType>::cloud;
160  using NearestNeighbourSearch<T, CloudType>::minBound;
161  using NearestNeighbourSearch<T, CloudType>::maxBound;
162 
163  protected:
164  struct BuildPoint
165  {
166  Vector pos;
167  size_t index;
168  BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {}
169  };
170  typedef std::vector<BuildPoint> BuildPoints;
171  typedef typename BuildPoints::iterator BuildPointsIt;
172  typedef typename BuildPoints::const_iterator BuildPointsCstIt;
173 
174  struct CompareDim
175  {
176  size_t dim;
177  CompareDim(const size_t dim):dim(dim){}
178  bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); }
179  };
180 
181  typedef IndexHeapSTL<Index, T> Heap;
182 
183  struct Node
184  {
185  int dim; // -1 == invalid, <= -2 = index of pt
186  T cutVal;
187  Node(const int dim = -1, const T cutVal = 0):
188  dim(dim), cutVal(cutVal) {}
189  };
190  typedef std::vector<Node> Nodes;
191 
192  Nodes nodes;
193 
194  inline size_t childLeft(size_t pos) const { return 2*pos + 1; }
195  inline size_t childRight(size_t pos) const { return 2*pos + 2; }
196  inline size_t parent(size_t pos) const { return (pos-1)/2; }
197  size_t getTreeSize(size_t size) const;
198  void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues, const bool balanceVariance);
199  void recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch);
200 
201  public:
202  KDTreeBalancedPtInLeavesStack(const CloudType& cloud, const bool balanceVariance);
203  virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags);
204  };
205 
206  // KDTree, unbalanced, points in leaves, stack, implicit bounds, ANN_KD_SL_MIDPT
207  template<typename T, typename Heap, typename CloudType>
208  struct KDTreeUnbalancedPtInLeavesImplicitBoundsStack: public NearestNeighbourSearch<T, CloudType>
209  {
210  typedef typename NearestNeighbourSearch<T, CloudType>::Vector Vector;
211  typedef typename NearestNeighbourSearch<T, CloudType>::Matrix Matrix;
212  typedef typename NearestNeighbourSearch<T, CloudType>::Index Index;
213  typedef typename NearestNeighbourSearch<T, CloudType>::IndexVector IndexVector;
214  typedef typename NearestNeighbourSearch<T, CloudType>::IndexMatrix IndexMatrix;
215 
216  using NearestNeighbourSearch<T, CloudType>::statistics;
217  using NearestNeighbourSearch<T, CloudType>::cloud;
218  using NearestNeighbourSearch<T, CloudType>::minBound;
219  using NearestNeighbourSearch<T, CloudType>::maxBound;
220 
221  protected:
222  struct BuildPoint
223  {
224  Vector pos;
225  size_t index;
226  BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {}
227  };
228  typedef std::vector<BuildPoint> BuildPoints;
229  typedef typename BuildPoints::iterator BuildPointsIt;
230  typedef typename BuildPoints::const_iterator BuildPointsCstIt;
231 
232  struct CompareDim
233  {
234  size_t dim;
235  CompareDim(const size_t dim):dim(dim){}
236  bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); }
237  };
238 
239  struct Node
240  {
241  enum
242  {
243  INVALID_CHILD = 0xffffffff,
244  INVALID_PT = 0xffffffff
245  };
246  unsigned dim;
247  unsigned rightChild;
248  union
249  {
250  T cutVal;
251  unsigned ptIndex;
252  };
253 
254  Node(const int dim, const T cutVal, unsigned rightChild):
255  dim(dim), rightChild(rightChild), cutVal(cutVal) {}
256  Node(const unsigned ptIndex = INVALID_PT):
257  dim(0), rightChild(INVALID_CHILD), ptIndex(ptIndex) {}
258  };
259  typedef std::vector<Node> Nodes;
260 
261  Nodes nodes;
262 
263  unsigned buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues);
264  void recurseKnn(const Vector& query, const unsigned n, T rd, Heap& heap, Vector& off, const T maxError, const bool allowSelfMatch);
265 
266  public:
267  KDTreeUnbalancedPtInLeavesImplicitBoundsStack(const CloudType& cloud);
268  virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags);
269  virtual IndexMatrix knnM(const Matrix& query, const Index k, const T epsilon, const unsigned optionFlags);
270  };
271 
272  // KDTree, unbalanced, points in leaves, stack, explicit bounds, ANN_KD_SL_MIDPT
273  template<typename T, typename CloudType>
274  struct KDTreeUnbalancedPtInLeavesExplicitBoundsStack: public NearestNeighbourSearch<T, CloudType>
275  {
276  typedef typename NearestNeighbourSearch<T, CloudType>::Vector Vector;
277  typedef typename NearestNeighbourSearch<T, CloudType>::Matrix Matrix;
278  typedef typename NearestNeighbourSearch<T, CloudType>::Index Index;
279  typedef typename NearestNeighbourSearch<T, CloudType>::IndexVector IndexVector;
280 
281 
282  using NearestNeighbourSearch<T, CloudType>::statistics;
283  using NearestNeighbourSearch<T, CloudType>::cloud;
284  using NearestNeighbourSearch<T, CloudType>::minBound;
285  using NearestNeighbourSearch<T, CloudType>::maxBound;
286 
287  protected:
288  struct BuildPoint
289  {
290  Vector pos;
291  size_t index;
292  BuildPoint(const Vector& pos = Vector(), const size_t index = 0): pos(pos), index(index) {}
293  };
294  typedef std::vector<BuildPoint> BuildPoints;
295  typedef typename BuildPoints::iterator BuildPointsIt;
296  typedef typename BuildPoints::const_iterator BuildPointsCstIt;
297 
298  struct CompareDim
299  {
300  size_t dim;
301  CompareDim(const size_t dim):dim(dim){}
302  bool operator() (const BuildPoint& p0, const BuildPoint& p1) { return p0.pos(dim) < p1.pos(dim); }
303  };
304 
305  typedef IndexHeapSTL<Index, T> Heap;
306 
307  struct Node
308  {
309  int dim; // <= -1 = index of pt
310  unsigned rightChild;
311  T cutVal;
312  T lowBound;
313  T highBound;
314  Node(const int dim = -1, const T cutVal = 0, const T lowBound = 0, const T highBound = 0, unsigned rightChild = 0):
315  dim(dim), rightChild(rightChild), cutVal(cutVal), lowBound(lowBound), highBound(highBound) {}
316  };
317  typedef std::vector<Node> Nodes;
318 
319  Nodes nodes;
320 
321  unsigned buildNodes(const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues);
322  void recurseKnn(const Vector& query, const size_t n, T rd, Heap& heap, const T maxError, const bool allowSelfMatch);
323 
324  public:
325  KDTreeUnbalancedPtInLeavesExplicitBoundsStack(const CloudType& cloud);
326  virtual IndexVector knn(const Vector& query, const Index k, const T epsilon, const unsigned optionFlags);
327  };
328 }
329 
330 #endif // __NABO_H
Nabo::KDTreeBalancedPtInLeavesStack::Vector
NearestNeighbourSearch< T, CloudType >::Vector Vector
Definition: nabo_experimental.h:153
Nabo::KDTreeBalancedPtInNodesPQ::Index
NearestNeighbourSearch< T, CloudType >::Index Index
Definition: nabo_experimental.h:96
Nabo::KDTreeBalancedPtInNodesPQ::Matrix
NearestNeighbourSearch< T, CloudType >::Matrix Matrix
Definition: nabo_experimental.h:95
Nabo::KDTreeBalancedPtInNodes::childRight
size_t childRight(size_t pos) const
Definition: nabo_experimental.h:79
Nabo::KDTreeBalancedPtInNodesPQ::Nodes
KDTreeBalancedPtInNodes< T, CloudType >::Nodes Nodes
Definition: nabo_experimental.h:99
Nabo::KDTreeBalancedPtInNodesPQ::IndexVector
NearestNeighbourSearch< T, CloudType >::IndexVector IndexVector
Definition: nabo_experimental.h:97
Nabo::KDTreeBalancedPtInLeavesStack::Index
NearestNeighbourSearch< T, CloudType >::Index Index
Definition: nabo_experimental.h:155
Nabo::KDTreeBalancedPtInNodes::BuildPointsIt
BuildPoints::iterator BuildPointsIt
Definition: nabo_experimental.h:57
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack::BuildPoint::BuildPoint
BuildPoint(const Vector &pos=Vector(), const size_t index=0)
Definition: nabo_experimental.h:292
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack::Matrix
NearestNeighbourSearch< T, CloudType >::Matrix Matrix
Definition: nabo_experimental.h:277
Nabo::NearestNeighbourSearch
Nearest neighbour search interface, templatized on scalar type.
Definition: nabo.h:258
Nabo::KDTreeBalancedPtInNodesStack::Node
KDTreeBalancedPtInNodes< T, CloudType >::Node Node
Definition: nabo_experimental.h:130
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack::IndexVector
NearestNeighbourSearch< T, CloudType >::IndexVector IndexVector
Definition: nabo_experimental.h:279
Nabo::KDTreeBalancedPtInNodes::Matrix
NearestNeighbourSearch< T, CloudType >::Matrix Matrix
Definition: nabo_experimental.h:45
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::IndexMatrix
NearestNeighbourSearch< T, CloudType >::IndexMatrix IndexMatrix
Definition: nabo_experimental.h:214
Nabo::KDTreeBalancedPtInNodes::getTreeSize
size_t getTreeSize(size_t size) const
Definition: experimental/kdtree_cpu.cpp:61
Nabo::NearestNeighbourSearch< T, CloudType >::cloud
const CloudType & cloud
the reference to the data-point cloud, which must remain valid during the lifetime of the NearestNeig...
Definition: nabo.h:274
Nabo::KDTreeBalancedPtInNodesStack::Index
NearestNeighbourSearch< T, CloudType >::Index Index
Definition: nabo_experimental.h:128
Nabo::KDTreeBalancedPtInLeavesStack::childRight
size_t childRight(size_t pos) const
Definition: nabo_experimental.h:195
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::IndexVector
NearestNeighbourSearch< T, CloudType >::IndexVector IndexVector
Definition: nabo_experimental.h:213
Nabo::KDTreeBalancedPtInNodesPQ::Node
KDTreeBalancedPtInNodes< T, CloudType >::Node Node
Definition: nabo_experimental.h:98
Nabo::KDTreeBalancedPtInNodes::childLeft
size_t childLeft(size_t pos) const
Definition: nabo_experimental.h:78
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack::Node::Node
Node(const int dim=-1, const T cutVal=0, const T lowBound=0, const T highBound=0, unsigned rightChild=0)
Definition: nabo_experimental.h:314
Nabo::KDTreeBalancedPtInLeavesStack::childLeft
size_t childLeft(size_t pos) const
Definition: nabo_experimental.h:194
Nabo::KDTreeBalancedPtInNodesPQ::Vector
NearestNeighbourSearch< T, CloudType >::Vector Vector
Definition: nabo_experimental.h:94
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::Matrix
NearestNeighbourSearch< T, CloudType >::Matrix Matrix
Definition: nabo_experimental.h:211
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack::Vector
NearestNeighbourSearch< T, CloudType >::Vector Vector
Definition: nabo_experimental.h:276
Nabo::KDTreeBalancedPtInNodes::buildNodes
void buildNodes(const BuildPointsIt first, const BuildPointsIt last, const size_t pos)
Definition: experimental/kdtree_cpu.cpp:87
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::Node::Node
Node(const int dim, const T cutVal, unsigned rightChild)
Definition: nabo_experimental.h:254
Nabo::KDTreeBalancedPtInNodesStack::IndexVector
NearestNeighbourSearch< T, CloudType >::IndexVector IndexVector
Definition: nabo_experimental.h:129
Nabo::IndexHeapSTL
balanced-tree implementation of heap
Definition: index_heap.h:52
Nabo::KDTreeBalancedPtInLeavesStack::BuildPoint::BuildPoint
BuildPoint(const Vector &pos=Vector(), const size_t index=0)
Definition: nabo_experimental.h:168
Nabo::KDTreeBalancedPtInNodes::Vector
NearestNeighbourSearch< T, CloudType >::Vector Vector
Definition: nabo_experimental.h:44
Nabo::KDTreeBalancedPtInNodesStack::Nodes
KDTreeBalancedPtInNodes< T, CloudType >::Nodes Nodes
Definition: nabo_experimental.h:131
Nabo::KDTreeBalancedPtInLeavesStack::Matrix
NearestNeighbourSearch< T, CloudType >::Matrix Matrix
Definition: nabo_experimental.h:154
Nabo::KDTreeBalancedPtInNodes::KDTreeBalancedPtInNodes
KDTreeBalancedPtInNodes(const CloudType &cloud)
Definition: experimental/kdtree_cpu.cpp:171
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::Index
NearestNeighbourSearch< T, CloudType >::Index Index
Definition: nabo_experimental.h:212
Nabo
Namespace for Nabo.
Definition: experimental/kdtree_cpu.cpp:40
Nabo::KDTreeBalancedPtInLeavesStack::IndexVector
NearestNeighbourSearch< T, CloudType >::IndexVector IndexVector
Definition: nabo_experimental.h:156
Nabo::KDTreeBalancedPtInNodes::IndexVector
NearestNeighbourSearch< T, CloudType >::IndexVector IndexVector
Definition: nabo_experimental.h:47
Nabo::KDTreeBalancedPtInNodesStack::Matrix
NearestNeighbourSearch< T, CloudType >::Matrix Matrix
Definition: nabo_experimental.h:127
Nabo::KDTreeBalancedPtInNodesStack::Vector
NearestNeighbourSearch< T, CloudType >::Vector Vector
Definition: nabo_experimental.h:126
Nabo::NearestNeighbourSearch< T, CloudType >::knn
unsigned long knn(const Vector &query, IndexVector &indices, Vector &dists2, const Index k=1, const T epsilon=0, const unsigned optionFlags=0, const T maxRadius=std::numeric_limits< T >::infinity()) const
Find the k nearest neighbours of query.
Definition: nabo/nabo.cpp:83
Nabo::KDTreeBalancedPtInNodes::BuildPoints
std::vector< BuildPoint > BuildPoints
Definition: nabo_experimental.h:56
Nabo::KDTreeBalancedPtInNodes::Index
NearestNeighbourSearch< T, CloudType >::Index Index
Definition: nabo_experimental.h:46
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::BuildPoint::BuildPoint
BuildPoint(const Vector &pos=Vector(), const size_t index=0)
Definition: nabo_experimental.h:226
Nabo::KDTreeBalancedPtInNodes::parent
size_t parent(size_t pos) const
Definition: nabo_experimental.h:80
Nabo::KDTreeBalancedPtInNodes::dump
void dump(const Vector minValues, const Vector maxValues, const size_t pos) const
Definition: experimental/kdtree_cpu.cpp:137
Nabo::KDTreeBalancedPtInLeavesStack::BuildPointsCstIt
BuildPoints::const_iterator BuildPointsCstIt
Definition: nabo_experimental.h:172
Nabo::KDTreeBalancedPtInNodes::cloudIndexesFromNodesIndexes
IndexVector cloudIndexesFromNodesIndexes(const IndexVector &indexes) const
Definition: experimental/kdtree_cpu.cpp:78
Nabo::KDTreeBalancedPtInLeavesStack::Node::Node
Node(const int dim=-1, const T cutVal=0)
Definition: nabo_experimental.h:187
Nabo::KDTreeBalancedPtInLeavesStack::BuildPoints
std::vector< BuildPoint > BuildPoints
Definition: nabo_experimental.h:170
Nabo::KDTreeBalancedPtInNodes::Node::Node
Node(const Vector &pos=Vector(), const int dim=-2, const Index index=0)
Definition: nabo_experimental.h:72
Nabo::KDTreeBalancedPtInNodes::BuildPoint::BuildPoint
BuildPoint(const Vector &pos=Vector(), const size_t index=0)
Definition: nabo_experimental.h:54
Nabo::NearestNeighbourSearch< T, CloudType >::CloudType
CloudType CloudType
a column-major Eigen matrix in which each column is a point; this matrix has dim rows ...
Definition: nabo.h:265
Nabo::KDTreeBalancedPtInNodesPQ::SearchElement::operator<
friend bool operator<(const SearchElement &e0, const SearchElement &e1)
Definition: nabo_experimental.h:114
Nabo::KDTreeBalancedPtInNodesPQ::SearchElement::SearchElement
SearchElement(const size_t index, const T minDist)
Definition: nabo_experimental.h:112
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack::Index
NearestNeighbourSearch< T, CloudType >::Index Index
Definition: nabo_experimental.h:278
Nabo::KDTreeBalancedPtInNodes::BuildPointsCstIt
BuildPoints::const_iterator BuildPointsCstIt
Definition: nabo_experimental.h:58
Nabo::KDTreeUnbalancedPtInLeavesImplicitBoundsStack::Vector
NearestNeighbourSearch< T, CloudType >::Vector Vector
Definition: nabo_experimental.h:210

libnabo
Author(s): Stéphane Magnenat
autogenerated on Mon Feb 28 2022 22:41:38