rtabmap::FlannIndex Class Reference

#include <FlannIndex.h>

Public Member Functions
std::vector< 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 long	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

std::vector< unsigned int > rtabmap::FlannIndex::addPoints

(

const cv::Mat &

features

)

Definition at line 368 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 202 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 263 of file FlannIndex.cpp.

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

Definition at line 142 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 325 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 83 of file FlannIndex.cpp.

bool rtabmap::FlannIndex::isBuilt

(

)

Definition at line 363 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 497 of file FlannIndex.cpp.

unsigned long rtabmap::FlannIndex::memoryUsed

(

)

const

Definition at line 111 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 543 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 464 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.

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

• FlannIndex.h
• FlannIndex.cpp