#include <kdtree_cuda_3d_index.h>

Inheritance diagram for flann::KDTreeCuda3dIndex< Distance >:

Collaboration diagram for flann::KDTreeCuda3dIndex< Distance >:

[legend]

Public Types
typedef Distance::ElementType	ElementType

typedef Distance::ResultType	DistanceType

typedef NNIndex< Distance >	BaseClass

typedef bool	needs_kdtree_distance

Public Types inherited from flann::NNIndex< Distance >
typedef Distance::ElementType	ElementType

typedef Distance::ResultType	DistanceType

Public Member Functions
	KDTreeCuda3dIndex (const Matrix< ElementType > &inputData, const IndexParams &params=KDTreeCuda3dIndexParams(), Distance d=Distance())

	KDTreeCuda3dIndex (const KDTreeCuda3dIndex &other)

KDTreeCuda3dIndex	operator= (KDTreeCuda3dIndex other)

	~KDTreeCuda3dIndex ()

BaseClass *	clone () const

void	buildIndex ()

flann_algorithm_t	getType () const

void	removePoint (size_t index)

ElementType *	getPoint (size_t id)

void	saveIndex (FILE *stream)

void	loadIndex (FILE *stream)

size_t	veclen () const

int	usedMemory () const

int	knnSearch (const Matrix< ElementType > &queries, Matrix< int > &indices, Matrix< 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
	Perform k-nearest neighbor search. More...

void	knnSearchGpu (const Matrix< ElementType > &queries, Matrix< int > &indices, Matrix< DistanceType > &dists, size_t knn, const SearchParams &params) const
	Perform k-nearest neighbor search. More...

int	knnSearchGpu (const Matrix< ElementType > &queries, std::vector< std::vector< int > > &indices, std::vector< std::vector< DistanceType > > &dists, size_t knn, const SearchParams &params) const

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< int > > &indices, std::vector< std::vector< DistanceType > > &dists, float radius, const SearchParams &params) const

int	radiusSearchGpu (const Matrix< ElementType > &queries, Matrix< int > &indices, Matrix< DistanceType > &dists, float radius, const SearchParams &params) const

int	radiusSearchGpu (const Matrix< ElementType > &queries, std::vector< std::vector< int > > &indices, std::vector< std::vector< DistanceType > > &dists, float radius, const SearchParams &params) const

void	findNeighbors (ResultSet< DistanceType > &result, const ElementType *vec, const SearchParams &searchParams) const

Public Member Functions inherited from flann::NNIndex< Distance >
	NNIndex (Distance d)

	NNIndex (const IndexParams &params, Distance d)

	NNIndex (const NNIndex &other)

virtual	~NNIndex ()

virtual void	buildIndex (const Matrix< ElementType > &dataset)

virtual void	addPoints (const Matrix< ElementType > &points, float rebuild_threshold=2)
	Incrementally add points to the index. More...

size_t	size () const

size_t	veclen () const

IndexParams	getParameters () const

template<typename Archive >
void	serialize (Archive &ar)

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...

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. 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

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

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

Public Member Functions inherited from flann::IndexBase
virtual	~IndexBase ()

Public Attributes
int	visited_leafs

Protected Member Functions
void	buildIndexImpl ()

void	freeIndex ()

Protected Member Functions inherited from flann::NNIndex< Distance >
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	extendDataset (const Matrix< ElementType > &new_points)

void	cleanRemovedPoints ()

void	swap (NNIndex &other)

Additional Inherited Members
Protected Attributes inherited from flann::NNIndex< Distance >
Distance	distance_

size_t	last_id_

size_t	size_

size_t	size_at_build_

size_t	veclen_

IndexParams	index_params_

bool	removed_

DynamicBitset	removed_points_

size_t	removed_count_

std::vector< size_t >	ids_

std::vector< ElementType * >	points_

ElementType *	data_ptr_

Detailed Description

template<typename Distance>
class flann::KDTreeCuda3dIndex< Distance >

Cuda KD Tree. Tree is built with GPU assistance and search is performed on the GPU, too.

Usually faster than the CPU search for data (and query) sets larger than 250000-300000 points, depending on your CPU and GPU.

Definition at line 70 of file kdtree_cuda_3d_index.h.

Member Typedef Documentation

◆ BaseClass

template<typename Distance >

typedef NNIndex<Distance> flann::KDTreeCuda3dIndex< Distance >::BaseClass

Definition at line 76 of file kdtree_cuda_3d_index.h.

◆ DistanceType

template<typename Distance >

typedef Distance::ResultType flann::KDTreeCuda3dIndex< Distance >::DistanceType

Definition at line 74 of file kdtree_cuda_3d_index.h.

◆ ElementType

template<typename Distance >

typedef Distance::ElementType flann::KDTreeCuda3dIndex< Distance >::ElementType

Definition at line 73 of file kdtree_cuda_3d_index.h.

◆ needs_kdtree_distance

template<typename Distance >

typedef bool flann::KDTreeCuda3dIndex< Distance >::needs_kdtree_distance

Definition at line 80 of file kdtree_cuda_3d_index.h.

Constructor & Destructor Documentation

◆ KDTreeCuda3dIndex() [1/2]

template<typename Distance >

flann::KDTreeCuda3dIndex< Distance >::KDTreeCuda3dIndex	(	const Matrix< ElementType > &	inputData,
		const IndexParams &	params = `KDTreeCuda3dIndexParams()`,
		Distance	d = `Distance()`
	)

inline

KDTree constructor

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

Definition at line 89 of file kdtree_cuda_3d_index.h.

References flann::Matrix_::cols, flann::get_param(), params, flann::Matrix_::rows, and flann::NNIndex< Distance >::size_.

◆ KDTreeCuda3dIndex() [2/2]

template<typename Distance >

flann::KDTreeCuda3dIndex< Distance >::KDTreeCuda3dIndex ( const KDTreeCuda3dIndex< Distance > & other )

◆ ~KDTreeCuda3dIndex()

template<typename Distance >

flann::KDTreeCuda3dIndex< Distance >::~KDTreeCuda3dIndex ( )

inline

Standard destructor

Definition at line 108 of file kdtree_cuda_3d_index.h.

References flann::Matrix< T >::ptr().

Member Function Documentation

◆ buildIndex()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::buildIndex ( )

inlinevirtual

Builds the index

Reimplemented from flann::NNIndex< Distance >.

Definition at line 122 of file kdtree_cuda_3d_index.h.

References flann::Matrix< T >::ptr(), and flann::NNIndex< Distance >::size_.

◆ buildIndexImpl()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::buildIndexImpl ( )

inlineprotectedvirtual

Implements flann::NNIndex< Distance >.

Definition at line 277 of file kdtree_cuda_3d_index.h.

◆ clone()

template<typename Distance >

BaseClass* flann::KDTreeCuda3dIndex< Distance >::clone ( ) const

inlinevirtual

Implements flann::NNIndex< Distance >.

Definition at line 114 of file kdtree_cuda_3d_index.h.

◆ findNeighbors()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::findNeighbors	(	ResultSet< DistanceType > &	result,
		const ElementType *	vec,
		const SearchParams &	searchParams
	)		const

inlinevirtual

Not implemented, since it is only used by single-element searches. (but is needed b/c it is abstract in the base class)

Implements flann::NNIndex< Distance >.

Definition at line 272 of file kdtree_cuda_3d_index.h.

◆ freeIndex()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::freeIndex ( )

inlineprotectedvirtual

Implements flann::NNIndex< Distance >.

Definition at line 282 of file kdtree_cuda_3d_index.h.

◆ getPoint()

template<typename Distance >

ElementType* flann::KDTreeCuda3dIndex< Distance >::getPoint ( size_t id )

inlinevirtual

Get point with specific id

Parameters

id

Returns

Reimplemented from flann::NNIndex< Distance >.

Definition at line 152 of file kdtree_cuda_3d_index.h.

◆ getType()

template<typename Distance >

flann_algorithm_t flann::KDTreeCuda3dIndex< Distance >::getType ( ) const

inlinevirtual

Implements flann::IndexBase.

Definition at line 141 of file kdtree_cuda_3d_index.h.

References FLANN_INDEX_KDTREE_SINGLE.

◆ knnSearch() [1/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::knnSearch	(	const Matrix< ElementType > &	queries,
		Matrix< int > &	indices,
		Matrix< DistanceType > &	dists,
		size_t	knn,
		const SearchParams &	params
	)		const

inline

Perform k-nearest neighbor search.

Parameters

[in]	queries	The query points for which to find the nearest neighbors
[out]	indices	The indices of the nearest neighbors found
[out]	dists	Distances to the nearest neighbors found
[in]	knn	Number of nearest neighbors to return
[in]	params	Search parameters

Definition at line 194 of file kdtree_cuda_3d_index.h.

References flann::KDTreeCuda3dIndex< Distance >::knnSearchGpu(), params, and flann::Matrix_::rows.

◆ knnSearch() [2/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< 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

Perform k-nearest neighbor search.

Parameters

[in]	queries	The query points for which to find the nearest neighbors
[out]	indices	The indices of the nearest neighbors found
[out]	dists	Distances to the nearest neighbors found
[in]	knn	Number of nearest neighbors to return
[in]	params	Search parameters

Definition at line 208 of file kdtree_cuda_3d_index.h.

References flann::KDTreeCuda3dIndex< Distance >::knnSearchGpu(), params, and flann::Matrix_::rows.

◆ knnSearchGpu() [1/2]

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::knnSearchGpu	(	const Matrix< ElementType > &	queries,
		Matrix< int > &	indices,
		Matrix< DistanceType > &	dists,
		size_t	knn,
		const SearchParams &	params
	)		const

Perform k-nearest neighbor search.

Parameters

[in]	queries	The query points for which to find the nearest neighbors
[out]	indices	The indices of the nearest neighbors found
[out]	dists	Distances to the nearest neighbors found
[in]	knn	Number of nearest neighbors to return
[in]	params	Search parameters

Referenced by flann::KDTreeCuda3dIndex< Distance >::knnSearch(), and flann::KDTreeCuda3dIndex< Distance >::knnSearchGpu().

◆ knnSearchGpu() [2/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::knnSearchGpu	(	const Matrix< ElementType > &	queries,
		std::vector< std::vector< int > > &	indices,
		std::vector< std::vector< DistanceType > > &	dists,
		size_t	knn,
		const SearchParams &	params
	)		const

inline

Definition at line 228 of file kdtree_cuda_3d_index.h.

References dist(), flann::KDTreeCuda3dIndex< Distance >::knnSearchGpu(), params, flann::Matrix< T >::ptr(), and flann::Matrix_::rows.

◆ loadIndex()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::loadIndex ( FILE * stream )

inlinevirtual

Implements flann::IndexBase.

Definition at line 164 of file kdtree_cuda_3d_index.h.

◆ operator=()

template<typename Distance >

KDTreeCuda3dIndex flann::KDTreeCuda3dIndex< Distance >::operator= ( KDTreeCuda3dIndex< Distance > other )

◆ radiusSearch() [1/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::radiusSearch	(	const Matrix< ElementType > &	queries,
		Matrix< int > &	indices,
		Matrix< DistanceType > &	dists,
		float	radius,
		const SearchParams &	params
	)		const

inline

Definition at line 250 of file kdtree_cuda_3d_index.h.

References params, and flann::KDTreeCuda3dIndex< Distance >::radiusSearchGpu().

◆ radiusSearch() [2/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< 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

Definition at line 256 of file kdtree_cuda_3d_index.h.

References params, and flann::KDTreeCuda3dIndex< Distance >::radiusSearchGpu().

◆ radiusSearchGpu() [1/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::radiusSearchGpu	(	const Matrix< ElementType > &	queries,
		Matrix< int > &	indices,
		Matrix< DistanceType > &	dists,
		float	radius,
		const SearchParams &	params
	)		const

Referenced by flann::KDTreeCuda3dIndex< Distance >::radiusSearch().

◆ radiusSearchGpu() [2/2]

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::radiusSearchGpu	(	const Matrix< ElementType > &	queries,
		std::vector< std::vector< int > > &	indices,
		std::vector< std::vector< DistanceType > > &	dists,
		float	radius,
		const SearchParams &	params
	)		const

◆ removePoint()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::removePoint ( size_t id )

inlinevirtual

Remove point from the index

Parameters

index Index of point to be removed

Reimplemented from flann::NNIndex< Distance >.

Definition at line 147 of file kdtree_cuda_3d_index.h.

◆ saveIndex()

template<typename Distance >

void flann::KDTreeCuda3dIndex< Distance >::saveIndex ( FILE * stream )

inlinevirtual

Implements flann::IndexBase.

Definition at line 157 of file kdtree_cuda_3d_index.h.

◆ usedMemory()

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::usedMemory ( ) const

inlinevirtual

Computes the inde memory usage Returns: memory used by the index TODO: return system or gpu RAM or both?

Implements flann::IndexBase.

Definition at line 179 of file kdtree_cuda_3d_index.h.

◆ veclen()

template<typename Distance >

size_t flann::KDTreeCuda3dIndex< Distance >::veclen ( ) const

inlinevirtual

Implements flann::IndexBase.

Definition at line 169 of file kdtree_cuda_3d_index.h.

Member Data Documentation

◆ visited_leafs

template<typename Distance >

int flann::KDTreeCuda3dIndex< Distance >::visited_leafs

Definition at line 78 of file kdtree_cuda_3d_index.h.

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

/root/ACloudViewer/libs/Reconstruction/lib/FLANN/algorithms/kdtree_cuda_3d_index.h

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename Distance> class flann::KDTreeCuda3dIndex< Distance >

Member Typedef Documentation

◆ BaseClass

◆ DistanceType

◆ ElementType

◆ needs_kdtree_distance

Constructor & Destructor Documentation

◆ KDTreeCuda3dIndex() [1/2]

◆ KDTreeCuda3dIndex() [2/2]

◆ ~KDTreeCuda3dIndex()

Member Function Documentation

◆ buildIndex()

◆ buildIndexImpl()

◆ clone()

◆ findNeighbors()

◆ freeIndex()

◆ getPoint()

◆ getType()

◆ knnSearch() [1/2]

◆ knnSearch() [2/2]

◆ knnSearchGpu() [1/2]

◆ knnSearchGpu() [2/2]

◆ loadIndex()

◆ operator=()

◆ radiusSearch() [1/2]

◆ radiusSearch() [2/2]

◆ radiusSearchGpu() [1/2]

◆ radiusSearchGpu() [2/2]

◆ removePoint()

◆ saveIndex()

◆ usedMemory()

◆ veclen()

Member Data Documentation

◆ visited_leafs

template<typename Distance>
class flann::KDTreeCuda3dIndex< Distance >