gtsam_points::IntensityKdTree Struct Reference

KdTree on intensity augmented coordinates. This class concatenates point coordinates (x, y, z) and intensity (i) and finds nearest neighbors on the XYZI space. More...

#include <intensity_kdtree.hpp>

Inheritance diagram for gtsam_points::IntensityKdTree:

Collaboration diagram for gtsam_points::IntensityKdTree:

Public Types
using	Index = nanoflann::KDTreeSingleIndexAdaptor< nanoflann::L2_Simple_Adaptor< double, IntensityKdTree, double >, IntensityKdTree, 4, size_t >
Public Types inherited from gtsam_points::NearestNeighborSearch
using	Ptr = std::shared_ptr< NearestNeighborSearch >
using	ConstPtr = std::shared_ptr< const NearestNeighborSearch >

Public Member Functions
	IntensityKdTree (const Eigen::Vector4d *points, const double *intensities, int num_points, double intensity_scale=1.0)
	Constructor.
size_t	kdtree_get_point_count () const
double	kdtree_get_pt (const size_t idx, const size_t dim) const
template<class BBox >
bool	kdtree_get_bbox (BBox &) const
virtual size_t	knn_search (const double *pt, size_t k, size_t *k_indices, double *k_sq_dists, double max_sq_dist=std::numeric_limits< double >::max()) const override
	k-nearest neighbor search
Public Member Functions inherited from gtsam_points::NearestNeighborSearch
virtual size_t	radius_search (const double *pt, double radius, std::vector< size_t > &indices, std::vector< double > &sq_dists, int max_num_neighbors=std::numeric_limits< int >::max()) const
	Radius search.

Public Attributes
const int	num_points
const double *	intensities
const Eigen::Vector4d *	points
const double	intensity_scale
double	search_eps
std::unique_ptr< Index >	index

Detailed Description

KdTree on intensity augmented coordinates. This class concatenates point coordinates (x, y, z) and intensity (i) and finds nearest neighbors on the XYZI space.

Constructor & Destructor Documentation

IntensityKdTree()

gtsam_points::IntensityKdTree::IntensityKdTree	(	const Eigen::Vector4d *	points,
		const double *	intensities,
		int	num_points,
		double	intensity_scale = 1.0
	)

Constructor.

Parameters

points	Input points
intensities	Input point intensities
num_points	Number of points
intensity_scale	Scaling parameter to balance Euclidean coordinates and intensities

Member Function Documentation

knn_search()

virtual size_t gtsam_points::IntensityKdTree::knn_search ( const double *  pt, size_t  k, size_t *  k_indices, double *  k_sq_dists, double  max_sq_dist = std::numeric_limits<double>::max()  ) const

overridevirtual

k-nearest neighbor search

Parameters

pt	Point
k	Number of neighbors
k_indices	Indices of k-nearest neighbors
k_sq_dists	Squared distances to the neighbors (sorted in ascending order)

Reimplemented from gtsam_points::NearestNeighborSearch.

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

• /home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/intensity_kdtree.hpp