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31 #ifndef RTABMAP_FLANN_COMPOSITE_INDEX_H_
32 #define RTABMAP_FLANN_COMPOSITE_INDEX_H_
52 (*this)[
"trees"] = trees;
54 (*this)[
"branching"] = branching;
56 (*this)[
"iterations"] = iterations;
58 (*this)[
"centers_init"] = centers_init;
60 (*this)[
"cb_index"] = cb_index;
70 template <
typename Distance>
71 class CompositeIndex :
public NNIndex<Distance>
163 Logger::info(
"Building kmeans tree...\n");
165 Logger::info(
"Building kdtree tree...\n");
239 #endif //FLANN_COMPOSITE_INDEX_H_
void buildIndex()
Builds the index.
CompositeIndex(const IndexParams ¶ms=CompositeIndexParams(), Distance d=Distance())
void findNeighbors(ResultSet< DistanceType > &result, const ElementType *vec, const SearchParams &searchParams) const
Method that searches for nearest-neighbours.
virtual ~CompositeIndex()
void loadIndex(FILE *stream)
Loads the index from a stream.
bool needs_kdtree_distance
CompositeIndexParams(int trees=4, int branching=32, int iterations=11, flann_centers_init_t centers_init=FLANN_CENTERS_RANDOM, float cb_index=0.2)
void addPoints(const Matrix< ElementType > &points, float rebuild_threshold=2)
Incrementally add points to the index.
Distance::ElementType ElementType
Distance::ResultType DistanceType
KMeansIndex< Distance > * kmeans_index_
void swap(GeographicLib::NearestNeighbor< dist_t, pos_t, distfun_t > &a, GeographicLib::NearestNeighbor< dist_t, pos_t, distfun_t > &b)
SmartProjectionParams params(gtsam::HESSIAN, gtsam::ZERO_ON_DEGENERACY)
NNIndex< Distance > BaseClass
flann_algorithm_t getType() const
void swap(CompositeIndex &other)
CompositeIndex & operator=(CompositeIndex other)
BaseClass * clone() const
void saveIndex(FILE *stream)
Saves the index to a stream.
std::map< std::string, any > IndexParams
KDTreeIndex< Distance > * kdtree_index_
void removePoint(size_t index)
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:08