#include <nabo_experimental.h>
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 |
![]() | |
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 | |
KDTreeUnbalancedPtInLeavesExplicitBoundsStack (const CloudType &cloud) | |
virtual IndexVector | knn (const Vector &query, const Index k, const T epsilon, const unsigned optionFlags) |
![]() | |
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 | |
unsigned | buildNodes (const BuildPointsIt first, const BuildPointsIt last, const Vector minValues, const Vector maxValues) |
void | recurseKnn (const Vector &query, const size_t n, T rd, Heap &heap, const T maxError, const bool allowSelfMatch) |
![]() | |
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 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... | |
![]() | |
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 constexpr Index | InvalidIndex |
the invalid index More... | |
static constexpr T | InvalidValue |
the invalid value More... | |
Definition at line 274 of file nabo_experimental.h.
|
protected |
Definition at line 294 of file nabo_experimental.h.
|
protected |
Definition at line 296 of file nabo_experimental.h.
|
protected |
Definition at line 295 of file nabo_experimental.h.
|
protected |
Definition at line 305 of file nabo_experimental.h.
typedef NearestNeighbourSearch<T, CloudType>::Index Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack< T, CloudType >::Index |
Definition at line 278 of file nabo_experimental.h.
typedef NearestNeighbourSearch<T, CloudType>::IndexVector Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack< T, CloudType >::IndexVector |
Definition at line 279 of file nabo_experimental.h.
typedef NearestNeighbourSearch<T, CloudType>::Matrix Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack< T, CloudType >::Matrix |
Definition at line 277 of file nabo_experimental.h.
|
protected |
Definition at line 317 of file nabo_experimental.h.
typedef NearestNeighbourSearch<T, CloudType>::Vector Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack< T, CloudType >::Vector |
Definition at line 276 of file nabo_experimental.h.
Nabo::KDTreeUnbalancedPtInLeavesExplicitBoundsStack< T, CloudType >::KDTreeUnbalancedPtInLeavesExplicitBoundsStack | ( | const CloudType & | cloud | ) |
Definition at line 824 of file experimental/kdtree_cpu.cpp.
|
protected |
Definition at line 761 of file experimental/kdtree_cpu.cpp.
|
virtual |
Definition at line 846 of file experimental/kdtree_cpu.cpp.
|
protected |
Definition at line 866 of file experimental/kdtree_cpu.cpp.
|
protected |
Definition at line 319 of file nabo_experimental.h.