KdTree-based nearest neighbor search. More...

#include <kdtree2.hpp>

Inheritance diagram for gtsam_points::KdTree2< Frame >:

Collaboration diagram for gtsam_points::KdTree2< Frame >:

Public Types
using	Index = UnsafeKdTree< Frame >

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

using	ConstPtr = std::shared_ptr< const NearestNeighborSearch >

Public Member Functions
	KdTree2 (const std::shared_ptr< const Frame > &frame, 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.

Public Attributes
const std::shared_ptr< const Frame >	frame

double	search_eps

std::unique_ptr< Index >	index

Detailed Description

template<typename Frame>
struct gtsam_points::KdTree2< Frame >

KdTree-based nearest neighbor search.

Member Function Documentation

template<typename Frame >

virtual size_t gtsam_points::KdTree2< Frame >::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

inlineoverridevirtual

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

template<typename Frame >

virtual size_t gtsam_points::KdTree2< Frame >::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

inlineoverridevirtual

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:

/home/runner/work/gtsam_points/gtsam_points/include/gtsam_points/ann/kdtree2.hpp