Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
rtflann::NNIndex< Distance > Class Template Reference

#include <nn_index.h>

Inheritance diagram for rtflann::NNIndex< Distance >:
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List of all members.

Public Types

typedef Distance::ResultType DistanceType
typedef Distance::ElementType ElementType

Public Member Functions

virtual void addPoints (const Matrix< ElementType > &points, float rebuild_threshold=2)
 Incrementally add points to the index.
virtual void buildIndex ()
virtual void buildIndex (const Matrix< ElementType > &dataset)
virtual NNIndexclone () const =0
virtual void findNeighbors (ResultSet< DistanceType > &result, const ElementType *vec, const SearchParams &searchParams) const =0
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.
int knnSearch (const Matrix< ElementType > &queries, Matrix< int > &indices, Matrix< DistanceType > &dists, size_t knn, const SearchParams &params) const
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.
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)
int radiusSearch (const Matrix< ElementType > &queries, Matrix< size_t > &indices, Matrix< DistanceType > &dists, float radius, const SearchParams &params) const
 Perform radius search.
int radiusSearch (const Matrix< ElementType > &queries, Matrix< int > &indices, Matrix< DistanceType > &dists, float radius, const SearchParams &params) const
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.
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 ()

Protected Member Functions

virtual void buildIndexImpl ()=0
void cleanRemovedPoints ()
void extendDataset (const Matrix< ElementType > &new_points)
virtual void freeIndex ()=0
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)

Protected Attributes

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::NNIndex< Distance >

Nearest-neighbour index base class

Definition at line 73 of file nn_index.h.


Member Typedef Documentation

template<typename Distance>
typedef Distance::ResultType rtflann::NNIndex< Distance >::DistanceType
template<typename Distance>
typedef Distance::ElementType rtflann::NNIndex< Distance >::ElementType

Constructor & Destructor Documentation

template<typename Distance>
rtflann::NNIndex< Distance >::NNIndex ( Distance  d) [inline]

Definition at line 79 of file nn_index.h.

template<typename Distance>
rtflann::NNIndex< Distance >::NNIndex ( const IndexParams params,
Distance  d 
) [inline]

Definition at line 84 of file nn_index.h.

template<typename Distance>
rtflann::NNIndex< Distance >::NNIndex ( const NNIndex< Distance > &  other) [inline]

Definition at line 89 of file nn_index.h.

template<typename Distance>
virtual rtflann::NNIndex< Distance >::~NNIndex ( ) [inline, virtual]

Definition at line 112 of file nn_index.h.


Member Function Documentation

template<typename Distance>
virtual void rtflann::NNIndex< Distance >::addPoints ( const Matrix< ElementType > &  points,
float  rebuild_threshold = 2 
) [inline, virtual]
template<typename Distance>
virtual void rtflann::NNIndex< Distance >::buildIndex ( ) [inline, virtual]

Builds the index

Reimplemented in rtflann::CompositeIndex< Distance >, and rtflann::AutotunedIndex< Distance >.

Definition at line 125 of file nn_index.h.

template<typename Distance>
virtual void rtflann::NNIndex< Distance >::buildIndex ( const Matrix< ElementType > &  dataset) [inline, virtual]

Builds the index using the specified dataset

Parameters:
datasetthe dataset to use

Reimplemented in rtflann::AutotunedIndex< Distance >.

Definition at line 141 of file nn_index.h.

template<typename Distance>
virtual void rtflann::NNIndex< Distance >::buildIndexImpl ( ) [protected, pure virtual]
template<typename Distance>
void rtflann::NNIndex< Distance >::cleanRemovedPoints ( ) [inline, protected]

Definition at line 792 of file nn_index.h.

template<typename Distance>
virtual NNIndex* rtflann::NNIndex< Distance >::clone ( ) const [pure virtual]
template<typename Distance>
void rtflann::NNIndex< Distance >::extendDataset ( const Matrix< ElementType > &  new_points) [inline, protected]

Definition at line 773 of file nn_index.h.

template<typename Distance>
virtual void rtflann::NNIndex< Distance >::findNeighbors ( ResultSet< DistanceType > &  result,
const ElementType vec,
const SearchParams searchParams 
) const [pure virtual]
template<typename Distance>
virtual void rtflann::NNIndex< Distance >::freeIndex ( ) [protected, pure virtual]
template<typename Distance>
IndexParams rtflann::NNIndex< Distance >::getParameters ( ) const [inline, virtual]

Returns the parameters used by the index.

Returns:
The index parameters

Implements rtflann::IndexBase.

Reimplemented in rtflann::AutotunedIndex< Distance >.

Definition at line 229 of file nn_index.h.

template<typename Distance>
virtual ElementType* rtflann::NNIndex< Distance >::getPoint ( size_t  id) [inline, virtual]

Get point with specific id

Parameters:
id
Returns:

Definition at line 187 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::id_to_index ( size_t  id) [inline, protected]

Definition at line 715 of file nn_index.h.

template<typename Distance>
void rtflann::NNIndex< Distance >::indices_to_ids ( const size_t *  in,
size_t *  out,
size_t  size 
) const [inline, protected]

Definition at line 747 of file nn_index.h.

template<typename Distance>
virtual int rtflann::NNIndex< Distance >::knnSearch ( const Matrix< ElementType > &  queries,
Matrix< size_t > &  indices,
Matrix< DistanceType > &  dists,
size_t  knn,
const SearchParams params 
) const [inline, virtual]

Perform k-nearest neighbor search.

Parameters:
[in]queriesThe query points for which to find the nearest neighbors
[out]indicesThe indices of the nearest neighbors found
[out]distsDistances to the nearest neighbors found
[in]knnNumber of nearest neighbors to return
[in]paramsSearch parameters

Reimplemented in rtflann::AutotunedIndex< Distance >, and rtflann::LshIndex< Distance >.

Definition at line 315 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::knnSearch ( const Matrix< ElementType > &  queries,
Matrix< int > &  indices,
Matrix< DistanceType > &  dists,
size_t  knn,
const SearchParams params 
) const [inline]
Parameters:
queries
indices
dists
knn
params
Returns:

Definition at line 378 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::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 [inline]

Perform k-nearest neighbor search.

Parameters:
[in]queriesThe query points for which to find the nearest neighbors
[out]indicesThe indices of the nearest neighbors found
[out]distsDistances to the nearest neighbors found
[in]knnNumber of nearest neighbors to return
[in]paramsSearch parameters

Reimplemented in rtflann::LshIndex< Distance >, and rtflann::AutotunedIndex< Distance >.

Definition at line 405 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::knnSearch ( const Matrix< ElementType > &  queries,
std::vector< std::vector< int > > &  indices,
std::vector< std::vector< DistanceType > > &  dists,
size_t  knn,
const SearchParams params 
) const [inline]
Parameters:
queries
indices
dists
knn
params
Returns:

Definition at line 476 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::radiusSearch ( const Matrix< ElementType > &  queries,
Matrix< size_t > &  indices,
Matrix< DistanceType > &  dists,
float  radius,
const SearchParams params 
) const [inline]

Perform radius search.

Parameters:
[in]queryThe query point
[out]indicesThe indices of the neighbors found within the given radius
[out]distsThe distances to the nearest neighbors found
[in]radiusThe radius used for search
[in]paramsSearch parameters
Returns:
Number of neighbors found

Definition at line 501 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::radiusSearch ( const Matrix< ElementType > &  queries,
Matrix< int > &  indices,
Matrix< DistanceType > &  dists,
float  radius,
const SearchParams params 
) const [inline]
Parameters:
queries
indices
dists
radius
params
Returns:

Definition at line 584 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::radiusSearch ( const Matrix< ElementType > &  queries,
std::vector< std::vector< size_t > > &  indices,
std::vector< std::vector< DistanceType > > &  dists,
float  radius,
const SearchParams params 
) const [inline]

Perform radius search.

Parameters:
[in]queryThe query point
[out]indicesThe indices of the neighbors found within the given radius
[out]distsThe distances to the nearest neighbors found
[in]radiusThe radius used for search
[in]paramsSearch parameters
Returns:
Number of neighbors found

Definition at line 611 of file nn_index.h.

template<typename Distance>
int rtflann::NNIndex< Distance >::radiusSearch ( const Matrix< ElementType > &  queries,
std::vector< std::vector< int > > &  indices,
std::vector< std::vector< DistanceType > > &  dists,
float  radius,
const SearchParams params 
) const [inline]
Parameters:
queries
indices
dists
radius
params
Returns:

Definition at line 690 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::removedCount ( ) const [inline]

Definition at line 206 of file nn_index.h.

template<typename Distance>
virtual void rtflann::NNIndex< Distance >::removePoint ( size_t  id) [inline, virtual]

Remove point from the index

Parameters:
indexIndex of point to be removed

Reimplemented in rtflann::CompositeIndex< Distance >, and rtflann::AutotunedIndex< Distance >.

Definition at line 161 of file nn_index.h.

template<typename Distance>
template<typename Archive >
void rtflann::NNIndex< Distance >::serialize ( Archive &  ar) [inline]
template<typename Distance>
void rtflann::NNIndex< Distance >::setDataset ( const Matrix< ElementType > &  dataset) [inline, protected]

Definition at line 756 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::size ( ) const [inline, virtual]
Returns:
number of features in this index.

Implements rtflann::IndexBase.

Reimplemented in rtflann::AutotunedIndex< Distance >, and rtflann::CompositeIndex< Distance >.

Definition at line 201 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::sizeAtBuild ( ) const [inline]

Definition at line 211 of file nn_index.h.

template<typename Distance>
void rtflann::NNIndex< Distance >::swap ( NNIndex< Distance > &  other) [inline, protected]

Definition at line 812 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::veclen ( ) const [inline, virtual]
Returns:
The dimensionality of the features in this index.

Implements rtflann::IndexBase.

Reimplemented in rtflann::AutotunedIndex< Distance >, and rtflann::CompositeIndex< Distance >.

Definition at line 219 of file nn_index.h.


Member Data Documentation

template<typename Distance>
ElementType* rtflann::NNIndex< Distance >::data_ptr_ [protected]

Pointer to dataset memory if allocated by this index, otherwise NULL

Definition at line 891 of file nn_index.h.

template<typename Distance>
Distance rtflann::NNIndex< Distance >::distance_ [protected]

The distance functor

Definition at line 833 of file nn_index.h.

template<typename Distance>
std::vector<size_t> rtflann::NNIndex< Distance >::ids_ [protected]

Array of point IDs, returned by nearest-neighbour operations

Definition at line 881 of file nn_index.h.

template<typename Distance>
IndexParams rtflann::NNIndex< Distance >::index_params_ [protected]

Parameters of the index.

Definition at line 861 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::last_id_ [protected]

Each index point has an associated ID. IDs are assigned sequentially in increasing order. This indicates the ID assigned to the last point added to the index.

Definition at line 841 of file nn_index.h.

template<typename Distance>
std::vector<ElementType*> rtflann::NNIndex< Distance >::points_ [protected]

Point data

Definition at line 886 of file nn_index.h.

template<typename Distance>
bool rtflann::NNIndex< Distance >::removed_ [protected]

Flag indicating if at least a point was removed from the index

Definition at line 866 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::removed_count_ [protected]

Number of points removed from the index

Definition at line 876 of file nn_index.h.

template<typename Distance>
DynamicBitset rtflann::NNIndex< Distance >::removed_points_ [protected]

Array used to mark points removed from the index

Definition at line 871 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::size_ [protected]

Number of points in the index (and database)

Definition at line 846 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::size_at_build_ [protected]

Number of features in the dataset when the index was last built.

Definition at line 851 of file nn_index.h.

template<typename Distance>
size_t rtflann::NNIndex< Distance >::veclen_ [protected]

Size of one point in the index (and database)

Definition at line 856 of file nn_index.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:32