Public Member Functions | Private Attributes | List of all members
rtabmap::FlannIndex Class Reference

#include <FlannIndex.h>

Public Member Functions

std::vector< unsigned intaddPoints (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 ()
 
size_t 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
 
size_t 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::MataddedDescriptors_
 
int featuresDim_
 
int featuresType_
 
void * index_
 
bool isLSH_
 
unsigned int nextIndex_
 
float rebalancingFactor_
 
std::list< intremovedIndexes_
 
bool useDistanceL1_
 

Detailed Description

Definition at line 37 of file FlannIndex.h.

Constructor & Destructor Documentation

◆ FlannIndex()

rtabmap::FlannIndex::FlannIndex ( )

Definition at line 35 of file FlannIndex.cpp.

◆ ~FlannIndex()

rtabmap::FlannIndex::~FlannIndex ( )
virtual

Definition at line 45 of file FlannIndex.cpp.

Member Function Documentation

◆ addPoints()

std::vector< unsigned int > rtabmap::FlannIndex::addPoints ( const cv::Mat features)

Definition at line 368 of file FlannIndex.cpp.

◆ buildKDTreeIndex()

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

Definition at line 202 of file FlannIndex.cpp.

◆ buildKDTreeSingleIndex()

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

Definition at line 263 of file FlannIndex.cpp.

◆ buildLinearIndex()

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

Definition at line 142 of file FlannIndex.cpp.

◆ buildLSHIndex()

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 325 of file FlannIndex.cpp.

◆ featuresDim()

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

Definition at line 75 of file FlannIndex.h.

◆ featuresType()

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

Definition at line 74 of file FlannIndex.h.

◆ indexedFeatures()

size_t rtabmap::FlannIndex::indexedFeatures ( ) const

Definition at line 83 of file FlannIndex.cpp.

◆ isBuilt()

bool rtabmap::FlannIndex::isBuilt ( )

Definition at line 363 of file FlannIndex.cpp.

◆ knnSearch()

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 497 of file FlannIndex.cpp.

◆ memoryUsed()

size_t rtabmap::FlannIndex::memoryUsed ( ) const

Definition at line 111 of file FlannIndex.cpp.

◆ radiusSearch()

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

Definition at line 543 of file FlannIndex.cpp.

◆ release()

void rtabmap::FlannIndex::release ( )

Definition at line 50 of file FlannIndex.cpp.

◆ removePoint()

void rtabmap::FlannIndex::removePoint ( unsigned int  index)

Definition at line 464 of file FlannIndex.cpp.

Member Data Documentation

◆ addedDescriptors_

std::map<int, cv::Mat> rtabmap::FlannIndex::addedDescriptors_
private

Definition at line 113 of file FlannIndex.h.

◆ featuresDim_

int rtabmap::FlannIndex::featuresDim_
private

Definition at line 106 of file FlannIndex.h.

◆ featuresType_

int rtabmap::FlannIndex::featuresType_
private

Definition at line 105 of file FlannIndex.h.

◆ index_

void* rtabmap::FlannIndex::index_
private

Definition at line 103 of file FlannIndex.h.

◆ isLSH_

bool rtabmap::FlannIndex::isLSH_
private

Definition at line 107 of file FlannIndex.h.

◆ nextIndex_

unsigned int rtabmap::FlannIndex::nextIndex_
private

Definition at line 104 of file FlannIndex.h.

◆ rebalancingFactor_

float rtabmap::FlannIndex::rebalancingFactor_
private

Definition at line 109 of file FlannIndex.h.

◆ removedIndexes_

std::list<int> rtabmap::FlannIndex::removedIndexes_
private

Definition at line 114 of file FlannIndex.h.

◆ useDistanceL1_

bool rtabmap::FlannIndex::useDistanceL1_
private

Definition at line 108 of file FlannIndex.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27