nanoflann::KDTreeEigenMatrixAdaptor Struct Reference

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Detailed Description

A simple KD-tree adaptor for working with data directly stored in an Eigen Matrix, without duplicating the data storage.

Each row in the matrix represents a point in the state space.

Example of usage:

        Eigen::Matrix<num_t,Dynamic,Dynamic>  mat;
        // Fill out "mat"...

        typedef KDTreeEigenMatrixAdaptor< Eigen::Matrix<num_t,Dynamic,Dynamic> >  my_kd_tree_t;
        const int max_leaf = 10;
        my_kd_tree_t   mat_index(dimdim, mat, max_leaf );
        mat_index.index->buildIndex();
        mat_index.index->...

Template Parameters:

DIM	If set to >0, it specifies a compile-time fixed dimensionality for the points in the data set, allowing more compiler optimizations.
Distance	The distance metric to use: nanoflann::metric_L1, nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc.

#include <mrpt/otherlibs/nanoflann/nanoflann.hpp>

List of all members.

Public Types
typedef KDTreeEigenMatrixAdaptor < MatrixType, DIM, Distance >	self_t
typedef MatrixType::Scalar	num_t
typedef Distance::template traits< num_t, self_t > ::distance_t	metric_t
typedef KDTreeSingleIndexAdaptor < metric_t, self_t, DIM >	index_t
Public Member Functions
	KDTreeEigenMatrixAdaptor (const int dimensionality, const MatrixType &mat, const int leaf_max_size=10)
	The kd-tree index for the user to call its methods as usual with any other FLANN index.
	~KDTreeEigenMatrixAdaptor ()
void	query (const num_t *query_point, int num_closest, int *out_indices, num_t *out_distances_sq, const int nChecks=10) const
	Query for the num_closest closest points to a given point (entered as query_point[0:dim-1]).
Interface expected by KDTreeSingleIndexAdaptor
const self_t &	derived () const
self_t &	derived ()
size_t	kdtree_get_point_count () const
num_t	kdtree_distance (const num_t *p1, const size_t idx_p2, size_t size) const
num_t	kdtree_get_pt (const size_t idx, int dim) const
template<class BBOX >
bool	kdtree_get_bbox (BBOX &bb) const
Public Attributes
index_t *	index
const MatrixType &	m_data_matrix

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Member Typedef Documentation

typedef KDTreeSingleIndexAdaptor< metric_t,self_t,DIM> nanoflann::KDTreeEigenMatrixAdaptor::index_t

Definition at line 1184 of file nanoflann.hpp.

typedef Distance::template traits<num_t,self_t>::distance_t nanoflann::KDTreeEigenMatrixAdaptor::metric_t

Definition at line 1183 of file nanoflann.hpp.

typedef MatrixType::Scalar nanoflann::KDTreeEigenMatrixAdaptor::num_t

Definition at line 1182 of file nanoflann.hpp.

typedef KDTreeEigenMatrixAdaptor<MatrixType,DIM,Distance> nanoflann::KDTreeEigenMatrixAdaptor::self_t

Definition at line 1181 of file nanoflann.hpp.

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Constructor & Destructor Documentation

nanoflann::KDTreeEigenMatrixAdaptor::KDTreeEigenMatrixAdaptor	(	const int	dimensionality,
		const MatrixType &	mat,
		const int	leaf_max_size = 10
	)		[inline]

The kd-tree index for the user to call its methods as usual with any other FLANN index.

Constructor: takes a const ref to the matrix object with the data points

Definition at line 1189 of file nanoflann.hpp.

nanoflann::KDTreeEigenMatrixAdaptor::~KDTreeEigenMatrixAdaptor

(

)

[inline]

Definition at line 1198 of file nanoflann.hpp.

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Member Function Documentation

const self_t& nanoflann::KDTreeEigenMatrixAdaptor::derived

(

)

const [inline]

Definition at line 1218 of file nanoflann.hpp.

self_t& nanoflann::KDTreeEigenMatrixAdaptor::derived

(

)

[inline]

Definition at line 1221 of file nanoflann.hpp.

num_t nanoflann::KDTreeEigenMatrixAdaptor::kdtree_distance	(	const num_t *	p1,
		const size_t	idx_p2,
		size_t	size
	)		const [inline]

Definition at line 1231 of file nanoflann.hpp.

References nanoflann::KNNResultSet::size().

template<class BBOX >

bool nanoflann::KDTreeEigenMatrixAdaptor::kdtree_get_bbox

(

BBOX &

bb

)

const [inline]

Definition at line 1250 of file nanoflann.hpp.

size_t nanoflann::KDTreeEigenMatrixAdaptor::kdtree_get_point_count

(

)

const [inline]

Definition at line 1226 of file nanoflann.hpp.

num_t nanoflann::KDTreeEigenMatrixAdaptor::kdtree_get_pt	(	const size_t	idx,
		int	dim
	)		const [inline]

Definition at line 1242 of file nanoflann.hpp.

void nanoflann::KDTreeEigenMatrixAdaptor::query	(	const num_t *	query_point,
		int	num_closest,
		int *	out_indices,
		num_t *	out_distances_sq,
		const int	nChecks = 10
	)		const [inline]

Query for the num_closest closest points to a given point (entered as query_point[0:dim-1]).

Note that this is a short-cut method for index->findNeighbors(). The user can also call index->... methods as desired.

Definition at line 1208 of file nanoflann.hpp.

References nanoflann::KNNResultSet::init().

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Member Data Documentation

index_t* nanoflann::KDTreeEigenMatrixAdaptor::index

Definition at line 1186 of file nanoflann.hpp.

const MatrixType& nanoflann::KDTreeEigenMatrixAdaptor::m_data_matrix

Definition at line 1202 of file nanoflann.hpp.