#include <nabo_experimental.h>

Inheritance diagram for Nabo::KDTreeBalancedPtInLeavesStack< T, CloudType >:

Classes
struct	BuildPoint

struct	CompareDim

struct	Node

Public Types
typedef NearestNeighbourSearch< T, CloudType >::Index	Index

typedef NearestNeighbourSearch< T, CloudType >::IndexVector	IndexVector

typedef NearestNeighbourSearch< T, CloudType >::Matrix	Matrix

typedef NearestNeighbourSearch< T, CloudType >::Vector	Vector

Public Types inherited from Nabo::NearestNeighbourSearch< T, CloudType >
typedef CloudType	CloudType
	a column-major Eigen matrix in which each column is a point; this matrix has dim rows More...

enum	CreationOptionFlags
	creation option More...

typedef int	Index
	an index to a Vector or a Matrix, for refering to data points More...

typedef Eigen::Matrix< Index, Eigen::Dynamic, Eigen::Dynamic >	IndexMatrix
	a matrix of indices to data points More...

typedef Eigen::Matrix< Index, Eigen::Dynamic, 1 >	IndexVector
	a vector of indices to data points More...

typedef Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	Matrix
	a column-major Eigen matrix in which each column is a point; this matrix has dim rows More...

enum	SearchOptionFlags
	search option More...

enum	SearchType
	type of search More...

typedef Eigen::Matrix< T, Eigen::Dynamic, 1 >	Vector
	an Eigen vector of type T, to hold the coordinates of a point More...

Public Member Functions
	KDTreeBalancedPtInLeavesStack (const CloudType &cloud, const bool balanceVariance)

virtual IndexVector	knn (const Vector &query, const Index k, const T epsilon, const unsigned optionFlags)

Public Member Functions inherited from Nabo::NearestNeighbourSearch< T, CloudType >
virtual unsigned long	knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Index k=1, const T epsilon=0, const unsigned optionFlags=0, const T maxRadius=std::numeric_limits< T >::infinity()) const=0
	Find the k nearest neighbours for each point of query. More...

virtual unsigned long	knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const=0
	Find the k nearest neighbours for each point of query. More...

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. More...

virtual	~NearestNeighbourSearch ()
	virtual destructor More...

Protected Types
typedef std::vector< BuildPoint >	BuildPoints

typedef BuildPoints::const_iterator	BuildPointsCstIt

typedef BuildPoints::iterator	BuildPointsIt

typedef IndexHeapSTL< Index, T >	Heap

typedef std::vector< Node >	Nodes

Protected Member Functions
void	buildNodes (const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues, const bool balanceVariance)

size_t	childLeft (size_t pos) const

size_t	childRight (size_t pos) const

size_t	getTreeSize (size_t size) const

size_t	parent (size_t pos) const

void	recurseKnn (const Vector &query, const size_t n, T rd, Heap &heap, Vector &off, const T maxError, const bool allowSelfMatch)

Protected Member Functions inherited from Nabo::NearestNeighbourSearch< T, CloudType >
void	checkSizesKnn (const Matrix &query, const IndexMatrix &indices, const Matrix &dists2, const Index k, const unsigned optionFlags, const Vector *maxRadii=0) const
	Make sure that the output matrices have the right sizes. Throw an exception otherwise. More...

	NearestNeighbourSearch (const CloudType &cloud, const Index dim, const unsigned creationOptionFlags)
	constructor More...

Protected Attributes
Nodes	nodes

Additional Inherited Members
Static Public Member Functions inherited from Nabo::NearestNeighbourSearch< T, CloudType >
static NearestNeighbourSearch *	create (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const SearchType preferedType=KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters())
	Create a nearest-neighbour search. More...

static NearestNeighbourSearch *	create (const WrongMatrixType &cloud, const Index dim=std::numeric_limits< Index >::max(), const SearchType preferedType=KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters())
	Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. More...

static NearestNeighbourSearch *	createBruteForce (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0)
	Create a nearest-neighbour search, using brute-force search, useful for comparison only. More...

static NearestNeighbourSearch *	createBruteForce (const WrongMatrixType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0)
	Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. More...

static NearestNeighbourSearch *	createKDTreeLinearHeap (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters())
	Create a nearest-neighbour search, using a kd-tree with linear heap, good for small k (~up to 30) More...

static NearestNeighbourSearch *	createKDTreeLinearHeap (const WrongMatrixType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters())
	Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. More...

static NearestNeighbourSearch *	createKDTreeTreeHeap (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters())
	Create a nearest-neighbour search, using a kd-tree with tree heap, good for large k (~from 30) More...

static NearestNeighbourSearch *	createKDTreeTreeHeap (const WrongMatrixType &, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters())
	Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. More...

Public Attributes inherited from Nabo::NearestNeighbourSearch< T, CloudType >
const CloudType &	cloud
	the reference to the data-point cloud, which must remain valid during the lifetime of the NearestNeighbourSearch object More...

const unsigned	creationOptionFlags
	creation options More...

const Index	dim
	the dimensionality of the data-point cloud More...

const Vector	maxBound
	the high bound of the search space (axis-aligned bounding box) More...

const Vector	minBound
	the low bound of the search space (axis-aligned bounding box) More...

Static Public Attributes inherited from Nabo::NearestNeighbourSearch< T, CloudType >
static constexpr Index	InvalidIndex
	the invalid index More...

static constexpr T	InvalidValue
	the invalid value More...

Detailed Description