#include <nanoflann.hpp>

Public Types
typedef Distance::DistanceType	DistanceType

typedef Distance::ElementType	ElementType

Public Member Functions
void	addPoints (IndexType start, IndexType end)

template<typename RESULTSET >
bool	findNeighbors (RESULTSET &result, const ElementType *vec, const SearchParams &searchParams) const

const std::vector< index_container_t > &	getAllIndices () const

	KDTreeSingleIndexDynamicAdaptor (const int dimensionality, const DatasetAdaptor &inputData, const KDTreeSingleIndexAdaptorParams &params=KDTreeSingleIndexAdaptorParams(), const size_t maximumPointCount=1000000000U)

	KDTreeSingleIndexDynamicAdaptor (const KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType > &)=delete

void	removePoint (size_t idx)

Public Attributes
Distance	distance

Protected Types
typedef KDTreeSingleIndexDynamicAdaptor_< Distance, DatasetAdaptor, DIM >	index_container_t

Protected Attributes
const DatasetAdaptor &	dataset
	The source of our data. More...

int	dim
	Dimensionality of each data point. More...

std::vector< index_container_t >	index

KDTreeSingleIndexAdaptorParams	index_params

size_t	m_leaf_max_size

size_t	pointCount

size_t	treeCount

std::vector< int >	treeIndex

Private Member Functions
int	First0Bit (IndexType num)

void	init ()

Detailed Description

template<typename Distance, class DatasetAdaptor, int DIM = -1, typename IndexType = size_t>
class nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >

kd-tree dynaimic index

class to create multiple static index and merge their results to behave as single dynamic index as proposed in Logarithmic Approach.

Example of usage: examples/dynamic_pointcloud_example.cpp

Template Parameters

DatasetAdaptor	The user-provided adaptor (see comments above).
Distance	The distance metric to use: nanoflann::metric_L1, nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc.
DIM	Dimensionality of data points (e.g. 3 for 3D points)
IndexType	Will be typically size_t or int

Definition at line 1788 of file nanoflann.hpp.

Member Typedef Documentation

◆ DistanceType

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

typedef Distance::DistanceType nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::DistanceType

Definition at line 1791 of file nanoflann.hpp.

◆ ElementType

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

typedef Distance::ElementType nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::ElementType

Definition at line 1790 of file nanoflann.hpp.

◆ index_container_t

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

typedef KDTreeSingleIndexDynamicAdaptor_<Distance, DatasetAdaptor, DIM> nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::index_container_t

protected

Definition at line 1812 of file nanoflann.hpp.

Constructor & Destructor Documentation

◆ KDTreeSingleIndexDynamicAdaptor() [1/2]

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::KDTreeSingleIndexDynamicAdaptor	(	const int	dimensionality,
		const DatasetAdaptor &	inputData,
		const KDTreeSingleIndexAdaptorParams &	params = `KDTreeSingleIndexAdaptorParams()`,
		const size_t	maximumPointCount = `1000000000U`
	)

inline

KDTree constructor

Refer to docs in README.md or online in https://github.com/jlblancoc/nanoflann

The KD-Tree point dimension (the length of each point in the datase, e.g. 3 for 3D points) is determined by means of:

The DIM template parameter if >0 (highest priority)
Otherwise, the dimensionality parameter of this constructor.

Parameters

inputData	Dataset with the input features
params	Basically, the maximum leaf node size

Definition at line 1857 of file nanoflann.hpp.

◆ KDTreeSingleIndexDynamicAdaptor() [2/2]

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::KDTreeSingleIndexDynamicAdaptor ( const KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType > & )

delete

Deleted copy constructor

Member Function Documentation

◆ addPoints()

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

void nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::addPoints	(	IndexType	start,
		IndexType	end
	)

inline

Add points to the set, Inserts all points from [start, end]

Definition at line 1883 of file nanoflann.hpp.

◆ findNeighbors()

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

template<typename RESULTSET >

bool nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::findNeighbors	(	RESULTSET &	result,
		const ElementType *	vec,
		const SearchParams &	searchParams
	)		const

inline

Find set of nearest neighbors to vec[0:dim-1]. 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

Template Parameters

RESULTSET Should be any ResultSet<DistanceType>

Returns: True if the requested neighbors could be found.

See also: knnSearch, radiusSearch

Definition at line 1926 of file nanoflann.hpp.

◆ First0Bit()

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

int nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::First0Bit ( IndexType num )

inlineprivate

finds position of least significant unset bit

Definition at line 1822 of file nanoflann.hpp.

◆ getAllIndices()

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

const std::vector<index_container_t>& nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::getAllIndices ( ) const

inline

Get a const ref to the internal list of indices; the number of indices is adapted dynamically as the dataset grows in size.

Definition at line 1818 of file nanoflann.hpp.

◆ init()

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

void nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::init ( )

inlineprivate

Creates multiple empty trees to handle dynamic support

Definition at line 1832 of file nanoflann.hpp.

◆ removePoint()

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

void nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::removePoint ( size_t idx )

inline

Remove a point from the set (Lazy Deletion)

Definition at line 1906 of file nanoflann.hpp.

Member Data Documentation

◆ dataset

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

const DatasetAdaptor& nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::dataset

protected

The source of our data.

The dataset used by this index

Definition at line 1801 of file nanoflann.hpp.

◆ dim

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

int nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::dim

protected

Dimensionality of each data point.

Definition at line 1809 of file nanoflann.hpp.

◆ distance

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

Distance nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::distance

Definition at line 1841 of file nanoflann.hpp.

◆ index

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

std::vector<index_container_t> nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::index

protected

Definition at line 1813 of file nanoflann.hpp.

◆ index_params

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

KDTreeSingleIndexAdaptorParams nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::index_params

protected

Definition at line 1807 of file nanoflann.hpp.

◆ m_leaf_max_size

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

size_t nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::m_leaf_max_size

protected

Definition at line 1794 of file nanoflann.hpp.

◆ pointCount

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

size_t nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::pointCount

protected

Definition at line 1796 of file nanoflann.hpp.

◆ treeCount

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

size_t nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::treeCount

protected

Definition at line 1795 of file nanoflann.hpp.

◆ treeIndex

template<typename Distance , class DatasetAdaptor , int DIM = -1, typename IndexType = size_t>

std::vector<int> nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::treeIndex

protected

treeIndex[idx] is the index of tree in which point at idx is stored. treeIndex[idx]=-1 means that point has been removed.

Definition at line 1803 of file nanoflann.hpp.

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

nanoflann.hpp

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Private Member Functions

Detailed Description

template<typename Distance, class DatasetAdaptor, int DIM = -1, typename IndexType = size_t> class nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >

Member Typedef Documentation

◆ DistanceType

◆ ElementType

◆ index_container_t

Constructor & Destructor Documentation

◆ KDTreeSingleIndexDynamicAdaptor() [1/2]

◆ KDTreeSingleIndexDynamicAdaptor() [2/2]

Member Function Documentation

◆ addPoints()

◆ findNeighbors()

◆ First0Bit()

◆ getAllIndices()

◆ init()

◆ removePoint()

Member Data Documentation

◆ dataset

◆ dim

◆ distance

◆ index

◆ index_params

◆ m_leaf_max_size

◆ pointCount

◆ treeCount

◆ treeIndex

template<typename Distance, class DatasetAdaptor, int DIM = -1, typename IndexType = size_t>
class nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >