KdTree-based nearest neighbor search. More...

#include <kdtree.hpp>

Inheritance diagram for gtsam_points::KdTree:

Collaboration diagram for gtsam_points::KdTree:

Public Types
using	Index = UnsafeKdTree< KdTree, AxisAlignedProjection >

Public Types inherited from gtsam_points::NearestNeighborSearch
using	Ptr = std::shared_ptr< NearestNeighborSearch >

using	ConstPtr = std::shared_ptr< const NearestNeighborSearch >

Public Member Functions
	KdTree (const Eigen::Vector4d *points, int num_points, int build_num_threads=1)

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
	Find k nearest neighbors.

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 override
	Radius search.

Detailed Description

KdTree-based nearest neighbor search.

Member Function Documentation

virtual size_t gtsam_points::KdTree::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

Find k nearest neighbors.

Parameters

pt	Query point (must be 4D vector [x, y, z, 1])
k	Number of neighbors to search
k_indices	Indices of k nearest neighbors
k_sq_dists	Squared distances of k nearest neighbors

virtual size_t gtsam_points::KdTree::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

overridevirtual

Radius search.

Note: There is no assumption and guarantee on the order of points to be selected when max_num_neighbors is specified. (KdTree tends to first pick closer points though).

Parameters

pt	Point
radius	Search radius
indices	Indices of neighbors within the radius
sq_dists	Squared distances to the neighbors
max_num_neighbors	Maximum number of neighbors

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