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

#include <FlannIndex.h>

Public Member Functions

unsigned int addPoints (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 ()
 
unsigned int 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
 
unsigned int 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::Mat > addedDescriptors_
 
int featuresDim_
 
int featuresType_
 
void * index_
 
bool isLSH_
 
unsigned int nextIndex_
 
float rebalancingFactor_
 
std::list< int > removedIndexes_
 
bool useDistanceL1_
 

Detailed Description

Definition at line 37 of file FlannIndex.h.

Constructor & Destructor Documentation

rtabmap::FlannIndex::FlannIndex ( )

Definition at line 35 of file FlannIndex.cpp.

rtabmap::FlannIndex::~FlannIndex ( )
virtual

Definition at line 45 of file FlannIndex.cpp.

Member Function Documentation

unsigned int rtabmap::FlannIndex::addPoints ( const cv::Mat &  features)

Definition at line 310 of file FlannIndex.cpp.

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

Definition at line 183 of file FlannIndex.cpp.

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

Definition at line 231 of file FlannIndex.cpp.

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

Definition at line 136 of file FlannIndex.cpp.

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 280 of file FlannIndex.cpp.

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

Definition at line 75 of file FlannIndex.h.

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

Definition at line 74 of file FlannIndex.h.

unsigned int rtabmap::FlannIndex::indexedFeatures ( ) const

Definition at line 81 of file FlannIndex.cpp.

bool rtabmap::FlannIndex::isBuilt ( )

Definition at line 305 of file FlannIndex.cpp.

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 434 of file FlannIndex.cpp.

unsigned int rtabmap::FlannIndex::memoryUsed ( ) const

Definition at line 109 of file FlannIndex.cpp.

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 480 of file FlannIndex.cpp.

void rtabmap::FlannIndex::release ( )

Definition at line 50 of file FlannIndex.cpp.

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

Definition at line 401 of file FlannIndex.cpp.

Member Data Documentation

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

Definition at line 113 of file FlannIndex.h.

int rtabmap::FlannIndex::featuresDim_
private

Definition at line 106 of file FlannIndex.h.

int rtabmap::FlannIndex::featuresType_
private

Definition at line 105 of file FlannIndex.h.

void* rtabmap::FlannIndex::index_
private

Definition at line 103 of file FlannIndex.h.

bool rtabmap::FlannIndex::isLSH_
private

Definition at line 107 of file FlannIndex.h.

unsigned int rtabmap::FlannIndex::nextIndex_
private

Definition at line 104 of file FlannIndex.h.

float rtabmap::FlannIndex::rebalancingFactor_
private

Definition at line 109 of file FlannIndex.h.

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

Definition at line 114 of file FlannIndex.h.

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 Wed Jun 5 2019 22:43:43