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

#include <kdtree_index.h>

Inheritance diagram for rtflann::KDTreeIndex< Distance >:
Inheritance graph
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Classes

struct  Node
 

Public Types

typedef NNIndex< Distance > BaseClass
 
typedef Distance::ResultType DistanceType
 
typedef Distance::ElementType ElementType
 
typedef bool needs_kdtree_distance
 
- 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
 
 KDTreeIndex (const IndexParams &params=KDTreeIndexParams(), Distance d=Distance())
 
 KDTreeIndex (const Matrix< ElementType > &dataset, const IndexParams &params=KDTreeIndexParams(), Distance d=Distance())
 
 KDTreeIndex (const KDTreeIndex &other)
 
void loadIndex (FILE *stream)
 
KDTreeIndexoperator= (KDTreeIndex other)
 
void saveIndex (FILE *stream)
 
template<typename Archive >
void serialize (Archive &ar)
 
int usedMemory () const
 
virtual ~KDTreeIndex ()
 
- 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 ()
 
void freeIndex ()
 
- 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

enum  { SAMPLE_MEAN = 100, RAND_DIM =5 }
 
typedef BranchStBranch
 
typedef BranchStruct< NodePtr, DistanceTypeBranchSt
 
typedef NodeNodePtr
 

Private Member Functions

void addPointToTree (NodePtr node, int ind)
 
void copyTree (NodePtr &dst, const NodePtr &src)
 
NodePtr divideTree (int *ind, int count)
 
template<bool with_removed>
void getExactNeighbors (ResultSet< DistanceType > &result, const ElementType *vec, float epsError) const
 
template<bool with_removed>
void getNeighbors (ResultSet< DistanceType > &result, const ElementType *vec, int maxCheck, float epsError) const
 
void meanSplit (int *ind, int count, int &index, int &cutfeat, DistanceType &cutval)
 
void planeSplit (int *ind, int count, int cutfeat, DistanceType cutval, int &lim1, int &lim2)
 
template<bool with_removed>
void searchLevel (ResultSet< DistanceType > &result_set, const ElementType *vec, NodePtr node, DistanceType mindist, int &checkCount, int maxCheck, float epsError, Heap< BranchSt > *heap, DynamicBitset &checked) const
 
template<bool with_removed>
void searchLevelExact (ResultSet< DistanceType > &result_set, const ElementType *vec, const NodePtr node, DistanceType mindist, const float epsError) const
 
int selectDivision (DistanceType *v)
 
void swap (KDTreeIndex &other)
 

Private Attributes

DistanceTypemean_
 
PooledAllocator pool_
 
std::vector< NodePtrtree_roots_
 
int trees_
 
DistanceTypevar_
 

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::KDTreeIndex< Distance >

Randomized kd-tree index

Contains the k-d trees and other information for indexing a set of points for nearest-neighbor matching.

Definition at line 72 of file kdtree_index.h.

Member Typedef Documentation

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

Definition at line 78 of file kdtree_index.h.

template<typename Distance>
typedef BranchSt* rtflann::KDTreeIndex< Distance >::Branch
private

Definition at line 148 of file kdtree_index.h.

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

Definition at line 147 of file kdtree_index.h.

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

Definition at line 76 of file kdtree_index.h.

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

Definition at line 75 of file kdtree_index.h.

template<typename Distance>
typedef bool rtflann::KDTreeIndex< Distance >::needs_kdtree_distance

Definition at line 80 of file kdtree_index.h.

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

Definition at line 146 of file kdtree_index.h.

Member Enumeration Documentation

template<typename Distance>
anonymous enum
private
Enumerator
SAMPLE_MEAN 

To improve efficiency, only SAMPLE_MEAN random values are used to compute the mean and variance at each level when building a tree. A value of 100 seems to perform as well as using all values.

RAND_DIM 

Top random dimensions to consider

When creating random trees, the dimension on which to subdivide is selected at random from among the top RAND_DIM dimensions with the highest variance. A value of 5 works well.

Definition at line 1093 of file kdtree_index.h.

Constructor & Destructor Documentation

template<typename Distance>
rtflann::KDTreeIndex< Distance >::KDTreeIndex ( const IndexParams params = KDTreeIndexParams(),
Distance  d = Distance() 
)
inline

KDTree constructor

Params: inputData = dataset with the input features params = parameters passed to the kdtree algorithm

Definition at line 159 of file kdtree_index.h.

template<typename Distance>
rtflann::KDTreeIndex< Distance >::KDTreeIndex ( const Matrix< ElementType > &  dataset,
const IndexParams params = KDTreeIndexParams(),
Distance  d = Distance() 
)
inline

KDTree constructor

Params: inputData = dataset with the input features params = parameters passed to the kdtree algorithm

Definition at line 173 of file kdtree_index.h.

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

Definition at line 181 of file kdtree_index.h.

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

Standard destructor

Definition at line 199 of file kdtree_index.h.

Member Function Documentation

template<typename Distance>
void rtflann::KDTreeIndex< 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 211 of file kdtree_index.h.

template<typename Distance>
void rtflann::KDTreeIndex< Distance >::addPointToTree ( NodePtr  node,
int  ind 
)
inlineprivate

Definition at line 1036 of file kdtree_index.h.

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

Builds the index

Implements rtflann::NNIndex< Distance >.

Definition at line 665 of file kdtree_index.h.

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

Implements rtflann::NNIndex< Distance >.

Definition at line 204 of file kdtree_index.h.

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

Definition at line 699 of file kdtree_index.h.

template<typename Distance>
NodePtr rtflann::KDTreeIndex< Distance >::divideTree ( int *  ind,
int  count 
)
inlineprivate

Create a tree node that subdivides the list of vecs from vind[first] to vind[last]. The routine is called recursively on each sublist. Place a pointer to this new tree node in the location pTree.

Params: pTree = the new node to create first = index of the first vector last = index of the last vector

Definition at line 724 of file kdtree_index.h.

template<typename Distance>
void rtflann::KDTreeIndex< 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 maxCheck = the maximum number of restarts (in a best-bin-first manner)

Implements rtflann::NNIndex< Distance >.

Definition at line 294 of file kdtree_index.h.

template<typename Distance>
void rtflann::KDTreeIndex< Distance >::freeIndex ( )
inlineprotectedvirtual

Implements rtflann::NNIndex< Distance >.

Definition at line 687 of file kdtree_index.h.

template<typename Distance>
template<bool with_removed>
void rtflann::KDTreeIndex< Distance >::getExactNeighbors ( ResultSet< DistanceType > &  result,
const ElementType vec,
float  epsError 
) const
inlineprivate

Performs an exact nearest neighbor search. The exact search performs a full traversal of the tree.

Definition at line 870 of file kdtree_index.h.

template<typename Distance>
template<bool with_removed>
void rtflann::KDTreeIndex< Distance >::getNeighbors ( ResultSet< DistanceType > &  result,
const ElementType vec,
int  maxCheck,
float  epsError 
) const
inlineprivate

Performs the approximate nearest-neighbor search. The search is approximate because the tree traversal is abandoned after a given number of descends in the tree.

Definition at line 888 of file kdtree_index.h.

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

Implements rtflann::IndexBase.

Definition at line 230 of file kdtree_index.h.

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

Implements rtflann::IndexBase.

Definition at line 269 of file kdtree_index.h.

template<typename Distance>
void rtflann::KDTreeIndex< Distance >::meanSplit ( int *  ind,
int  count,
int &  index,
int &  cutfeat,
DistanceType cutval 
)
inlineprivate

Choose which feature to use in order to subdivide this set of vectors. Make a random choice among those with the highest variance, and use its variance as the threshold value.

Definition at line 755 of file kdtree_index.h.

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

Definition at line 190 of file kdtree_index.h.

template<typename Distance>
void rtflann::KDTreeIndex< Distance >::planeSplit ( int *  ind,
int  count,
int  cutfeat,
DistanceType  cutval,
int &  lim1,
int &  lim2 
)
inlineprivate

Subdivide the list of points by a plane perpendicular on axe corresponding to the 'cutfeat' dimension at 'cutval' position.

On return: dataset[ind[0..lim1-1]][cutfeat]<cutval dataset[ind[lim1..lim2-1]][cutfeat]==cutval dataset[ind[lim2..count]][cutfeat]>cutval

Definition at line 843 of file kdtree_index.h.

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

Implements rtflann::IndexBase.

Definition at line 262 of file kdtree_index.h.

template<typename Distance>
template<bool with_removed>
void rtflann::KDTreeIndex< Distance >::searchLevel ( ResultSet< DistanceType > &  result_set,
const ElementType vec,
NodePtr  node,
DistanceType  mindist,
int &  checkCount,
int  maxCheck,
float  epsError,
Heap< BranchSt > *  heap,
DynamicBitset checked 
) const
inlineprivate

Search starting from a given node of the tree. Based on any mismatches at higher levels, all exemplars below this level must have a distance of at least "mindistsq".

Definition at line 946 of file kdtree_index.h.

template<typename Distance>
template<bool with_removed>
void rtflann::KDTreeIndex< Distance >::searchLevelExact ( ResultSet< DistanceType > &  result_set,
const ElementType vec,
const NodePtr  node,
DistanceType  mindist,
const float  epsError 
) const
inlineprivate

Performs an exact search in the tree starting from a node.

Definition at line 998 of file kdtree_index.h.

template<typename Distance>
int rtflann::KDTreeIndex< Distance >::selectDivision ( DistanceType v)
inlineprivate

Select the top RAND_DIM largest values from v and return the index of one of these selected at random.

Definition at line 805 of file kdtree_index.h.

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

Definition at line 237 of file kdtree_index.h.

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

Definition at line 1083 of file kdtree_index.h.

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

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

Implements rtflann::IndexBase.

Definition at line 280 of file kdtree_index.h.

Member Data Documentation

template<typename Distance>
DistanceType* rtflann::KDTreeIndex< Distance >::mean_
private

Definition at line 1117 of file kdtree_index.h.

template<typename Distance>
PooledAllocator rtflann::KDTreeIndex< 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 1132 of file kdtree_index.h.

template<typename Distance>
std::vector<NodePtr> rtflann::KDTreeIndex< Distance >::tree_roots_
private

Array of k-d trees used to find neighbours.

Definition at line 1123 of file kdtree_index.h.

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

Number of randomized trees that are used

Definition at line 1115 of file kdtree_index.h.

template<typename Distance>
DistanceType* rtflann::KDTreeIndex< Distance >::var_
private

Definition at line 1118 of file kdtree_index.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:09