KDTree with FLANN for nearest neighbor search. More...

#include <ecvKDTreeFlann.h>

Public Member Functions
	KDTreeFlann ()
	Default Constructor. More...

	KDTreeFlann (const Eigen::MatrixXd &data)
	Parameterized Constructor. More...

	KDTreeFlann (const ccHObject &geometry)
	Parameterized Constructor. More...

	KDTreeFlann (const utility::Feature &feature)
	Parameterized Constructor. More...

	~KDTreeFlann ()

	KDTreeFlann (const KDTreeFlann &)=delete

KDTreeFlann &	operator= (const KDTreeFlann &)=delete

bool	SetMatrixData (const Eigen::MatrixXd &data)

bool	SetGeometry (const ccHObject &geometry)

bool	SetFeature (const utility::Feature &feature)

template<typename T >
int	Search (const T &query, const KDTreeSearchParam &param, std::vector< int > &indices, std::vector< double > &distance2) const

template<typename T >
int	Query (const std::vector< T > &queries, const KDTreeSearchParam &param, std::vector< std::vector< int >> &indices, std::vector< std::vector< double >> &distance2) const

template<typename T >
int	SearchKNN (const T &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const

template<typename T >
int	SearchRadius (const T &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const

template<typename T >
int	SearchHybrid (const T &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const

Protected Types
using	KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor< Eigen::Map< const Eigen::MatrixXd >, -1, nanoflann::metric_L2, false >

Protected Attributes
std::vector< double >	data_

std::unique_ptr< KDTree_t >	nanoflann_index_

std::unique_ptr< Eigen::Map< const Eigen::MatrixXd > >	data_interface_

size_t	dimension_ = 0

size_t	dataset_size_ = 0

Detailed Description

KDTree with FLANN for nearest neighbor search.

Definition at line 33 of file ecvKDTreeFlann.h.

Member Typedef Documentation

◆ KDTree_t

using cloudViewer::geometry::KDTreeFlann::KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor< Eigen::Map<const Eigen::MatrixXd>, -1, nanoflann::metric_L2, false>

protected

Definition at line 205 of file ecvKDTreeFlann.h.

Constructor & Destructor Documentation

◆ KDTreeFlann() [1/5]

cloudViewer::geometry::KDTreeFlann::KDTreeFlann ( )

Default Constructor.

Definition at line 29 of file ecvKDTreeFlann.cpp.

◆ KDTreeFlann() [2/5]

cloudViewer::geometry::KDTreeFlann::KDTreeFlann ( const Eigen::MatrixXd & data )

Parameterized Constructor.

Parameters

data	Provides set of data points for KDTree construction.

Definition at line 31 of file ecvKDTreeFlann.cpp.

References data, and SetMatrixData().

◆ KDTreeFlann() [3/5]

cloudViewer::geometry::KDTreeFlann::KDTreeFlann ( const ccHObject & geometry )

Parameterized Constructor.

Parameters

geometry Provides geometry from which KDTree is constructed.

Definition at line 33 of file ecvKDTreeFlann.cpp.

References SetGeometry().

◆ KDTreeFlann() [4/5]

cloudViewer::geometry::KDTreeFlann::KDTreeFlann ( const utility::Feature & feature )

Parameterized Constructor.

Parameters

feature Provides a set of features from which the KDTree is constructed.

Definition at line 35 of file ecvKDTreeFlann.cpp.

References SetFeature().

◆ ~KDTreeFlann()

cloudViewer::geometry::KDTreeFlann::~KDTreeFlann ( )

Definition at line 39 of file ecvKDTreeFlann.cpp.

◆ KDTreeFlann() [5/5]

cloudViewer::geometry::KDTreeFlann::KDTreeFlann ( const KDTreeFlann & )

delete

Member Function Documentation

◆ operator=()

KDTreeFlann& cloudViewer::geometry::KDTreeFlann::operator= ( const KDTreeFlann & )

delete

◆ Query()

template<typename T >

int cloudViewer::geometry::KDTreeFlann::Query	(	const std::vector< T > &	queries,
		const KDTreeSearchParam &	param,
		std::vector< std::vector< int >> &	indices,
		std::vector< std::vector< double >> &	distance2
	)		const

inline

Definition at line 94 of file ecvKDTreeFlann.h.

References LogWarning.

◆ Search()

template<typename T >

int cloudViewer::geometry::KDTreeFlann::Search	(	const T &	query,
		const KDTreeSearchParam &	param,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

inline

Definition at line 69 of file ecvKDTreeFlann.h.

References cloudViewer::geometry::KDTreeSearchParam::GetSearchType(), cloudViewer::geometry::KDTreeSearchParam::Hybrid, cloudViewer::geometry::KDTreeSearchParam::Knn, and cloudViewer::geometry::KDTreeSearchParam::Radius.

Referenced by cloudViewer::utility::ComputeFPFHFeature(), cloudViewer::utility::ComputeSPFHFeature(), and ccPointCloud::EstimatePerPointCovariances().

◆ SearchHybrid()

template<typename T >

int cloudViewer::geometry::KDTreeFlann::SearchHybrid	(	const T &	query,
		double	radius,
		int	max_nn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

inline

Definition at line 170 of file ecvKDTreeFlann.h.

References Utils::distance().

Referenced by cloudViewer::pipelines::registration::GetRegistrationResultAndCorrespondences().

◆ SearchKNN()

template<typename T >

int cloudViewer::geometry::KDTreeFlann::SearchKNN	(	const T &	query,
		int	knn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

inline

Definition at line 121 of file ecvKDTreeFlann.h.

Referenced by ccPointCloud::ComputeNearestNeighborDistance(), ccPointCloud::ComputePointCloudDistance(), cloudViewer::utility::CorrespondencesFromFeatures(), cloudViewer::pipelines::registration::InitialMatching(), ccPointCloud::OrientNormalsConsistentTangentPlane(), cloudViewer::pipelines::registration::RegistrationRANSACBasedOnFeatureMatching(), and ccPointCloud::RemoveStatisticalOutliers().

◆ SearchRadius()

template<typename T >

int cloudViewer::geometry::KDTreeFlann::SearchRadius	(	const T &	query,
		double	radius,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

inline

Definition at line 144 of file ecvKDTreeFlann.h.

Referenced by cloudViewer::geometry::keypoint::ComputeISSKeypoints(), ccMesh::MergeCloseVertices(), ccPointCloud::RemoveRadiusOutliers(), ccMesh::SamplePointsPoissonDisk(), and cloudViewer::benchmarks::TestKDTreeLine0::search().

◆ SetFeature()

bool cloudViewer::geometry::KDTreeFlann::SetFeature ( const utility::Feature & feature )

Sets the data for the KDTree from the feature data.

Parameters

feature Set of features for KDTree construction.

Definition at line 76 of file ecvKDTreeFlann.cpp.

References cloudViewer::utility::Feature::data_, and SetMatrixData().

Referenced by KDTreeFlann().

◆ SetGeometry()

bool cloudViewer::geometry::KDTreeFlann::SetGeometry ( const ccHObject & geometry )

Sets the data for the KDTree from geometry.

Parameters

geometry Geometry for KDTree Construction.

Definition at line 46 of file ecvKDTreeFlann.cpp.

References ccHObject::getClassID(), CV_TYPES::HALF_EDGE_MESH, CV_TYPES::HIERARCHY_OBJECT, CV_TYPES::IMAGE, LogWarning, CV_TYPES::MESH, CV_TYPES::POINT_CLOUD, and points.

Referenced by ccPointCloud::ComputePointCloudDistance(), ccPointCloud::EstimatePerPointCovariances(), cloudViewer::pipelines::registration::EvaluateRegistration(), KDTreeFlann(), cloudViewer::pipelines::registration::RegistrationICP(), ccPointCloud::RemoveRadiusOutliers(), ccPointCloud::RemoveStatisticalOutliers(), and cloudViewer::benchmarks::TestKDTreeLine0::setup().

◆ SetMatrixData()

bool cloudViewer::geometry::KDTreeFlann::SetMatrixData ( const Eigen::MatrixXd & data )

Sets the data for the KDTree from a matrix.

Parameters

data	Data points for KDTree Construction.

Definition at line 41 of file ecvKDTreeFlann.cpp.

References data.

Referenced by KDTreeFlann(), and SetFeature().

Member Data Documentation

◆ data_

std::vector<double> cloudViewer::geometry::KDTreeFlann::data_

protected

Definition at line 211 of file ecvKDTreeFlann.h.

◆ data_interface_

std::unique_ptr<Eigen::Map<const Eigen::MatrixXd> > cloudViewer::geometry::KDTreeFlann::data_interface_

protected

Definition at line 213 of file ecvKDTreeFlann.h.

◆ dataset_size_

size_t cloudViewer::geometry::KDTreeFlann::dataset_size_ = 0

protected

Definition at line 215 of file ecvKDTreeFlann.h.

◆ dimension_

size_t cloudViewer::geometry::KDTreeFlann::dimension_ = 0

protected

Definition at line 214 of file ecvKDTreeFlann.h.

◆ nanoflann_index_

std::unique_ptr<KDTree_t> cloudViewer::geometry::KDTreeFlann::nanoflann_index_

protected

Definition at line 212 of file ecvKDTreeFlann.h.

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

/root/ACloudViewer/libs/CV_db/include/ecvKDTreeFlann.h
/root/ACloudViewer/libs/CV_db/src/ecvKDTreeFlann.cpp

Public Member Functions

Protected Types

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ KDTree_t

Constructor & Destructor Documentation

◆ KDTreeFlann() [1/5]

◆ KDTreeFlann() [2/5]

◆ KDTreeFlann() [3/5]

◆ KDTreeFlann() [4/5]

◆ ~KDTreeFlann()

◆ KDTreeFlann() [5/5]

Member Function Documentation

◆ operator=()

◆ Query()

◆ Search()

◆ SearchHybrid()

◆ SearchKNN()

◆ SearchRadius()

◆ SetFeature()

◆ SetGeometry()

◆ SetMatrixData()

Member Data Documentation

◆ data_

◆ data_interface_

◆ dataset_size_

◆ dimension_

◆ nanoflann_index_