small_gicp::KdTree< PointCloud, Projection > Struct Template Reference

"Safe" KdTree that holds the ownership of the input points. More...

#include <kdtree.hpp>

Collaboration diagram for small_gicp::KdTree< PointCloud, Projection >:

Public Types
using	Ptr = std::shared_ptr< KdTree< PointCloud, Projection > >
using	ConstPtr = std::shared_ptr< const KdTree< PointCloud, Projection > >

Public Member Functions
template<typename Builder = KdTreeBuilder>
	KdTree (std::shared_ptr< const PointCloud > points, const Builder &builder=Builder())
size_t	nearest_neighbor_search (const Eigen::Vector4d &query, size_t *k_indices, double *k_sq_dists, const KnnSetting &setting=KnnSetting()) const
	Find k-nearest neighbors. This method uses dynamic memory allocation. More...
size_t	knn_search (const Eigen::Vector4d &query, size_t k, size_t *k_indices, double *k_sq_dists, const KnnSetting &setting=KnnSetting()) const
	Find k-nearest neighbors. This method uses dynamic memory allocation. More...

Public Attributes
const std::shared_ptr< const PointCloud >	points
	Points. More...
const UnsafeKdTree< PointCloud, Projection >	kdtree
	KdTree. More...

Detailed Description

template<typename PointCloud, typename Projection = AxisAlignedProjection>
struct small_gicp::KdTree< PointCloud, Projection >

"Safe" KdTree that holds the ownership of the input points.

Member Typedef Documentation

ConstPtr

template<typename PointCloud , typename Projection = AxisAlignedProjection>

using small_gicp::KdTree< PointCloud, Projection >::ConstPtr = std::shared_ptr<const KdTree<PointCloud, Projection> >

Ptr

template<typename PointCloud , typename Projection = AxisAlignedProjection>

using small_gicp::KdTree< PointCloud, Projection >::Ptr = std::shared_ptr<KdTree<PointCloud, Projection> >

Constructor & Destructor Documentation

KdTree()

template<typename PointCloud , typename Projection = AxisAlignedProjection>

template<typename Builder = KdTreeBuilder>

small_gicp::KdTree< PointCloud, Projection >::KdTree ( std::shared_ptr< const PointCloud >  points, const Builder &  builder = Builder()  )

inlineexplicit

Member Function Documentation

knn_search()

template<typename PointCloud , typename Projection = AxisAlignedProjection>

size_t small_gicp::KdTree< PointCloud, Projection >::knn_search ( const Eigen::Vector4d &  query, size_t  k, size_t *  k_indices, double *  k_sq_dists, const KnnSetting &  setting = KnnSetting()  ) const

inline

Find k-nearest neighbors. This method uses dynamic memory allocation.

Parameters

query	Query point
k	Number of neighbors
k_indices	Indices of neighbors
k_sq_dists	Squared distances to neighbors (sorted in ascending order)
setting	KNN search setting

Returns

Number of found neighbors

nearest_neighbor_search()

template<typename PointCloud , typename Projection = AxisAlignedProjection>

size_t small_gicp::KdTree< PointCloud, Projection >::nearest_neighbor_search ( const Eigen::Vector4d &  query, size_t *  k_indices, double *  k_sq_dists, const KnnSetting &  setting = KnnSetting()  ) const

inline

Find k-nearest neighbors. This method uses dynamic memory allocation.

Parameters

query	Query point
k	Number of neighbors
k_indices	Indices of neighbors
k_sq_dists	Squared distances to neighbors (sorted in ascending order)
setting	KNN search setting

Returns

Number of found neighbors

Member Data Documentation

kdtree

template<typename PointCloud , typename Projection = AxisAlignedProjection>

const UnsafeKdTree<PointCloud, Projection> small_gicp::KdTree< PointCloud, Projection >::kdtree

KdTree.

points

template<typename PointCloud , typename Projection = AxisAlignedProjection>

const std::shared_ptr<const PointCloud> small_gicp::KdTree< PointCloud, Projection >::points

Points.

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

• /home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/kdtree.hpp