Classes | Public Types | Public Member Functions | Protected Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
rtflann::HierarchicalClusteringIndex< Distance > Class Template Reference

#include <hierarchical_clustering_index.h>

Inheritance diagram for rtflann::HierarchicalClusteringIndex< Distance >:
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Classes

struct  Node
 
struct  PointInfo
 

Public Types

typedef NNIndex< Distance > BaseClass
 
typedef Distance::ResultType DistanceType
 
typedef Distance::ElementType ElementType
 
- Public Types inherited from rtflann::NNIndex< Distance >
typedef Distance::ResultType DistanceType
 
typedef Distance::ElementType ElementType
 

Public Member Functions

void addPoints (const Matrix< ElementType > &points, float rebuild_threshold=2)
 Incrementally add points to the index. More...
 
BaseClassclone () const
 
void findNeighbors (ResultSet< DistanceType > &result, const ElementType *vec, const SearchParams &searchParams) const
 
flann_algorithm_t getType () const
 
 HierarchicalClusteringIndex (const IndexParams &index_params=HierarchicalClusteringIndexParams(), Distance d=Distance())
 
 HierarchicalClusteringIndex (const Matrix< ElementType > &inputData, const IndexParams &index_params=HierarchicalClusteringIndexParams(), Distance d=Distance())
 
 HierarchicalClusteringIndex (const HierarchicalClusteringIndex &other)
 
void initCenterChooser ()
 
void loadIndex (FILE *stream)
 
HierarchicalClusteringIndexoperator= (HierarchicalClusteringIndex other)
 
void saveIndex (FILE *stream)
 
template<typename Archive >
void serialize (Archive &ar)
 
int usedMemory () const
 
virtual ~HierarchicalClusteringIndex ()
 
- Public Member Functions inherited from rtflann::NNIndex< Distance >
virtual void buildIndex ()
 
virtual void buildIndex (const Matrix< ElementType > &dataset)
 
IndexParams getParameters () const
 
virtual ElementTypegetPoint (size_t id)
 
virtual int knnSearch (const Matrix< ElementType > &queries, Matrix< size_t > &indices, Matrix< DistanceType > &dists, size_t knn, const SearchParams &params) const
 Perform k-nearest neighbor search. More...
 
virtual int knnSearch (const Matrix< ElementType > &queries, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< DistanceType > > &dists, size_t knn, const SearchParams &params) const
 Perform k-nearest neighbor search. More...
 
int knnSearch (const Matrix< ElementType > &queries, std::vector< std::vector< int > > &indices, std::vector< std::vector< DistanceType > > &dists, size_t knn, const SearchParams &params) const
 
 NNIndex (Distance d)
 
 NNIndex (const IndexParams &params, Distance d)
 
 NNIndex (const NNIndex &other)
 
virtual int radiusSearch (const Matrix< ElementType > &queries, Matrix< size_t > &indices, Matrix< DistanceType > &dists, float radius, const SearchParams &params) const
 Perform radius search. More...
 
int radiusSearch (const Matrix< ElementType > &queries, Matrix< int > &indices, Matrix< DistanceType > &dists, float radius, const SearchParams &params) const
 
virtual int radiusSearch (const Matrix< ElementType > &queries, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< DistanceType > > &dists, float radius, const SearchParams &params) const
 Perform radius search. More...
 
int radiusSearch (const Matrix< ElementType > &queries, std::vector< std::vector< int > > &indices, std::vector< std::vector< DistanceType > > &dists, float radius, const SearchParams &params) const
 
size_t removedCount () const
 
virtual void removePoint (size_t id)
 
template<typename Archive >
void serialize (Archive &ar)
 
size_t size () const
 
size_t sizeAtBuild () const
 
size_t veclen () const
 
virtual ~NNIndex ()
 
- Public Member Functions inherited from rtflann::IndexBase
virtual ~IndexBase ()
 

Protected Member Functions

void buildIndexImpl ()
 
- Protected Member Functions inherited from rtflann::NNIndex< Distance >
void cleanRemovedPoints ()
 
void extendDataset (const Matrix< ElementType > &new_points)
 
size_t id_to_index (size_t id)
 
void indices_to_ids (const size_t *in, size_t *out, size_t size) const
 
void setDataset (const Matrix< ElementType > &dataset)
 
void swap (NNIndex &other)
 

Private Types

typedef BranchStruct< NodePtr, DistanceTypeBranchSt
 
typedef NodeNodePtr
 

Private Member Functions

void addPointToTree (NodePtr node, size_t index)
 
void computeClustering (NodePtr node, int *indices, int indices_length)
 
void computeLabels (int *indices, int indices_length, int *centers, int centers_length, int *labels, DistanceType &cost)
 
void copyTree (NodePtr &dst, const NodePtr &src)
 
template<bool with_removed>
void findNeighborsWithRemoved (ResultSet< DistanceType > &result, const ElementType *vec, const SearchParams &searchParams) const
 
template<bool with_removed>
void findNN (NodePtr node, ResultSet< DistanceType > &result, const ElementType *vec, int &checks, int maxChecks, Heap< BranchSt > *heap, DynamicBitset &checked) const
 
void freeIndex ()
 
void swap (HierarchicalClusteringIndex &other)
 

Private Attributes

int branching_
 
flann_centers_init_t centers_init_
 
CenterChooser< Distance > * chooseCenters_
 
int leaf_max_size_
 
int memoryCounter_
 
PooledAllocator pool_
 
std::vector< Node * > tree_roots_
 
int trees_
 

Additional Inherited Members

- Protected Attributes inherited from rtflann::NNIndex< Distance >
ElementTypedata_ptr_
 
Distance distance_
 
std::vector< size_t > ids_
 
IndexParams index_params_
 
size_t last_id_
 
std::vector< ElementType * > points_
 
bool removed_
 
size_t removed_count_
 
DynamicBitset removed_points_
 
size_t size_
 
size_t size_at_build_
 
size_t veclen_
 

Detailed Description

template<typename Distance>
class rtflann::HierarchicalClusteringIndex< Distance >

Hierarchical index

Contains a tree constructed through a hierarchical clustering and other information for indexing a set of points for nearest-neighbour matching.

Definition at line 86 of file hierarchical_clustering_index.h.

Member Typedef Documentation

◆ BaseClass

template<typename Distance >
typedef NNIndex<Distance> rtflann::HierarchicalClusteringIndex< Distance >::BaseClass

Definition at line 92 of file hierarchical_clustering_index.h.

◆ BranchSt

template<typename Distance >
typedef BranchStruct<NodePtr, DistanceType> rtflann::HierarchicalClusteringIndex< Distance >::BranchSt
private

Alias definition for a nicer syntax.

Definition at line 429 of file hierarchical_clustering_index.h.

◆ DistanceType

template<typename Distance >
typedef Distance::ResultType rtflann::HierarchicalClusteringIndex< Distance >::DistanceType

Definition at line 90 of file hierarchical_clustering_index.h.

◆ ElementType

template<typename Distance >
typedef Distance::ElementType rtflann::HierarchicalClusteringIndex< Distance >::ElementType

Definition at line 89 of file hierarchical_clustering_index.h.

◆ NodePtr

template<typename Distance >
typedef Node* rtflann::HierarchicalClusteringIndex< Distance >::NodePtr
private

Definition at line 422 of file hierarchical_clustering_index.h.

Constructor & Destructor Documentation

◆ HierarchicalClusteringIndex() [1/3]

template<typename Distance >
rtflann::HierarchicalClusteringIndex< Distance >::HierarchicalClusteringIndex ( const IndexParams index_params = HierarchicalClusteringIndexParams(),
Distance  d = Distance() 
)
inline

Constructor.

Parameters
index_params
d

Definition at line 100 of file hierarchical_clustering_index.h.

◆ HierarchicalClusteringIndex() [2/3]

template<typename Distance >
rtflann::HierarchicalClusteringIndex< Distance >::HierarchicalClusteringIndex ( const Matrix< ElementType > &  inputData,
const IndexParams index_params = HierarchicalClusteringIndexParams(),
Distance  d = Distance() 
)
inline

Index constructor

Params: inputData = dataset with the input features params = parameters passed to the hierarchical k-means algorithm

Definition at line 121 of file hierarchical_clustering_index.h.

◆ HierarchicalClusteringIndex() [3/3]

template<typename Distance >
rtflann::HierarchicalClusteringIndex< Distance >::HierarchicalClusteringIndex ( const HierarchicalClusteringIndex< Distance > &  other)
inline

Definition at line 140 of file hierarchical_clustering_index.h.

◆ ~HierarchicalClusteringIndex()

template<typename Distance >
virtual rtflann::HierarchicalClusteringIndex< Distance >::~HierarchicalClusteringIndex ( )
inlinevirtual

Index destructor.

Release the memory used by the index.

Definition at line 187 of file hierarchical_clustering_index.h.

Member Function Documentation

◆ addPoints()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::addPoints ( const Matrix< ElementType > &  points,
float  rebuild_threshold = 2 
)
inlinevirtual

Incrementally add points to the index.

Parameters
pointsMatrix with points to be added
rebuild_threshold

Reimplemented from rtflann::NNIndex< Distance >.

Definition at line 209 of file hierarchical_clustering_index.h.

◆ addPointToTree()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::addPointToTree ( NodePtr  node,
size_t  index 
)
inlineprivate

Definition at line 622 of file hierarchical_clustering_index.h.

◆ buildIndexImpl()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::buildIndexImpl ( )
inlineprotectedvirtual

Builds the index

Implements rtflann::NNIndex< Distance >.

Definition at line 305 of file hierarchical_clustering_index.h.

◆ clone()

template<typename Distance >
BaseClass* rtflann::HierarchicalClusteringIndex< Distance >::clone ( ) const
inlinevirtual

Implements rtflann::NNIndex< Distance >.

Definition at line 193 of file hierarchical_clustering_index.h.

◆ computeClustering()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::computeClustering ( NodePtr  node,
int *  indices,
int  indices_length 
)
inlineprivate

The method responsible with actually doing the recursive hierarchical clustering

Params: node = the node to cluster indices = indices of the points belonging to the current node branching = the branching factor to use in the clustering

Definition at line 490 of file hierarchical_clustering_index.h.

◆ computeLabels()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::computeLabels ( int *  indices,
int  indices_length,
int *  centers,
int  centers_length,
int *  labels,
DistanceType cost 
)
inlineprivate

Definition at line 462 of file hierarchical_clustering_index.h.

◆ copyTree()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::copyTree ( NodePtr dst,
const NodePtr src 
)
inlineprivate

Definition at line 443 of file hierarchical_clustering_index.h.

◆ findNeighbors()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::findNeighbors ( ResultSet< DistanceType > &  result,
const ElementType vec,
const SearchParams searchParams 
) const
inlinevirtual

Find set of nearest neighbors to vec. Their indices are stored inside the result object.

Params: result = the result object in which the indices of the nearest-neighbors are stored vec = the vector for which to search the nearest neighbors searchParams = parameters that influence the search algorithm (checks)

Implements rtflann::NNIndex< Distance >.

Definition at line 290 of file hierarchical_clustering_index.h.

◆ findNeighborsWithRemoved()

template<typename Distance >
template<bool with_removed>
void rtflann::HierarchicalClusteringIndex< Distance >::findNeighborsWithRemoved ( ResultSet< DistanceType > &  result,
const ElementType vec,
const SearchParams searchParams 
) const
inlineprivate

Definition at line 546 of file hierarchical_clustering_index.h.

◆ findNN()

template<typename Distance >
template<bool with_removed>
void rtflann::HierarchicalClusteringIndex< Distance >::findNN ( NodePtr  node,
ResultSet< DistanceType > &  result,
const ElementType vec,
int &  checks,
int  maxChecks,
Heap< BranchSt > *  heap,
DynamicBitset checked 
) const
inlineprivate

Performs one descent in the hierarchical k-means tree. The branches not visited are stored in a priority queue.

Params: node = node to explore result = container for the k-nearest neighbors found vec = query points checks = how many points in the dataset have been checked so far maxChecks = maximum dataset points to checks

Definition at line 582 of file hierarchical_clustering_index.h.

◆ freeIndex()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::freeIndex ( )
inlineprivatevirtual

Clears Node tree calling Node destructor explicitly

Implements rtflann::NNIndex< Distance >.

Definition at line 436 of file hierarchical_clustering_index.h.

◆ getType()

template<typename Distance >
flann_algorithm_t rtflann::HierarchicalClusteringIndex< Distance >::getType ( ) const
inlinevirtual

Implements rtflann::IndexBase.

Definition at line 229 of file hierarchical_clustering_index.h.

◆ initCenterChooser()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::initCenterChooser ( )
inline

Definition at line 162 of file hierarchical_clustering_index.h.

◆ loadIndex()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::loadIndex ( FILE *  stream)
inlinevirtual

Implements rtflann::IndexBase.

Definition at line 273 of file hierarchical_clustering_index.h.

◆ operator=()

template<typename Distance >
HierarchicalClusteringIndex& rtflann::HierarchicalClusteringIndex< Distance >::operator= ( HierarchicalClusteringIndex< Distance >  other)
inline

Definition at line 155 of file hierarchical_clustering_index.h.

◆ saveIndex()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::saveIndex ( FILE *  stream)
inlinevirtual

Implements rtflann::IndexBase.

Definition at line 266 of file hierarchical_clustering_index.h.

◆ serialize()

template<typename Distance >
template<typename Archive >
void rtflann::HierarchicalClusteringIndex< Distance >::serialize ( Archive &  ar)
inline

Definition at line 236 of file hierarchical_clustering_index.h.

◆ swap()

template<typename Distance >
void rtflann::HierarchicalClusteringIndex< Distance >::swap ( HierarchicalClusteringIndex< Distance > &  other)
inlineprivate

Definition at line 658 of file hierarchical_clustering_index.h.

◆ usedMemory()

template<typename Distance >
int rtflann::HierarchicalClusteringIndex< Distance >::usedMemory ( ) const
inlinevirtual

Computes the inde memory usage Returns: memory used by the index

Implements rtflann::IndexBase.

Definition at line 202 of file hierarchical_clustering_index.h.

Member Data Documentation

◆ branching_

template<typename Distance >
int rtflann::HierarchicalClusteringIndex< Distance >::branching_
private

index parameters Branching factor to use for clustering

Definition at line 697 of file hierarchical_clustering_index.h.

◆ centers_init_

template<typename Distance >
flann_centers_init_t rtflann::HierarchicalClusteringIndex< Distance >::centers_init_
private

Algorithm to use for choosing cluster centers

Definition at line 707 of file hierarchical_clustering_index.h.

◆ chooseCenters_

template<typename Distance >
CenterChooser<Distance>* rtflann::HierarchicalClusteringIndex< Distance >::chooseCenters_
private

Algorithm used to choose initial centers

Definition at line 717 of file hierarchical_clustering_index.h.

◆ leaf_max_size_

template<typename Distance >
int rtflann::HierarchicalClusteringIndex< Distance >::leaf_max_size_
private

Max size of leaf nodes

Definition at line 712 of file hierarchical_clustering_index.h.

◆ memoryCounter_

template<typename Distance >
int rtflann::HierarchicalClusteringIndex< Distance >::memoryCounter_
private

Memory occupied by the index.

Definition at line 691 of file hierarchical_clustering_index.h.

◆ pool_

template<typename Distance >
PooledAllocator rtflann::HierarchicalClusteringIndex< Distance >::pool_
private

Pooled memory allocator.

Using a pooled memory allocator is more efficient than allocating memory directly when there is a large number small of memory allocations.

Definition at line 686 of file hierarchical_clustering_index.h.

◆ tree_roots_

template<typename Distance >
std::vector<Node*> rtflann::HierarchicalClusteringIndex< Distance >::tree_roots_
private

The root nodes in the tree.

Definition at line 677 of file hierarchical_clustering_index.h.

◆ trees_

template<typename Distance >
int rtflann::HierarchicalClusteringIndex< Distance >::trees_
private

How many parallel trees to build

Definition at line 702 of file hierarchical_clustering_index.h.


The documentation for this class was generated from the following file:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00