Open3D (C++ API)
KDTreeFlann.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <vector>
32 
36 
37 namespace flann {
38 template <typename T>
39 class Matrix;
40 template <typename T>
41 struct L2;
42 template <typename T>
43 class Index;
44 } // namespace flann
45 
46 namespace open3d {
47 namespace geometry {
48 
49 class KDTreeFlann {
50 public:
51  KDTreeFlann();
52  KDTreeFlann(const Eigen::MatrixXd &data);
53  KDTreeFlann(const Geometry &geometry);
54  KDTreeFlann(const registration::Feature &feature);
55  ~KDTreeFlann();
56  KDTreeFlann(const KDTreeFlann &) = delete;
57  KDTreeFlann &operator=(const KDTreeFlann &) = delete;
58 
59 public:
60  bool SetMatrixData(const Eigen::MatrixXd &data);
61  bool SetGeometry(const Geometry &geometry);
62  bool SetFeature(const registration::Feature &feature);
63 
64  template <typename T>
65  int Search(const T &query,
66  const KDTreeSearchParam &param,
67  std::vector<int> &indices,
68  std::vector<double> &distance2) const;
69 
70  template <typename T>
71  int SearchKNN(const T &query,
72  int knn,
73  std::vector<int> &indices,
74  std::vector<double> &distance2) const;
75 
76  template <typename T>
77  int SearchRadius(const T &query,
78  double radius,
79  std::vector<int> &indices,
80  std::vector<double> &distance2) const;
81 
82  template <typename T>
83  int SearchHybrid(const T &query,
84  double radius,
85  int max_nn,
86  std::vector<int> &indices,
87  std::vector<double> &distance2) const;
88 
89 private:
90  bool SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data);
91 
92 protected:
93  std::vector<double> data_;
94  std::unique_ptr<flann::Matrix<double>> flann_dataset_;
95  std::unique_ptr<flann::Index<flann::L2<double>>> flann_index_;
96  size_t dimension_ = 0;
97  size_t dataset_size_ = 0;
98 };
99 
100 } // namespace geometry
101 } // namespace open3d
open3d::geometry::KDTreeFlann::~KDTreeFlann
~KDTreeFlann()
Definition: KDTreeFlann.cpp:54
open3d::geometry::KDTreeFlann::SearchHybrid
int SearchHybrid(const T &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:161
open3d::geometry::KDTreeFlann
Definition: KDTreeFlann.h:49
open3d::geometry::KDTreeFlann::flann_index_
std::unique_ptr< flann::Index< flann::L2< double > > > flann_index_
Definition: KDTreeFlann.h:95
open3d::geometry::KDTreeFlann::operator=
KDTreeFlann & operator=(const KDTreeFlann &)=delete
open3d::geometry::KDTreeFlann::KDTreeFlann
KDTreeFlann()
Definition: KDTreeFlann.cpp:44
open3d::registration::Feature
Definition: Feature.h:43
open3d::geometry::KDTreeFlann::flann_dataset_
std::unique_ptr< flann::Matrix< double > > flann_dataset_
Definition: KDTreeFlann.h:94
open3d::geometry::KDTreeFlann::SearchRadius
int SearchRadius(const T &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:136
open3d::geometry::KDTreeFlann::data_
std::vector< double > data_
Definition: KDTreeFlann.h:93
Geometry.h
KDTreeSearchParam.h
open3d::geometry::Geometry
The base geometry class.
Definition: Geometry.h:35
open3d::geometry::KDTreeFlann::SetMatrixData
bool SetMatrixData(const Eigen::MatrixXd &data)
Definition: KDTreeFlann.cpp:56
open3d::io::k4a_plugin::data
const char const char value recording_handle imu_sample recording_handle uint8_t data
Definition: K4aPlugin.cpp:274
flann::Index
Definition: KDTreeFlann.h:43
flann::Matrix
Definition: KDTreeFlann.h:39
flann::L2
Definition: KDTreeFlann.h:41
open3d::geometry::KDTreeFlann::dataset_size_
size_t dataset_size_
Definition: KDTreeFlann.h:97
open3d::geometry::KDTreeFlann::SetFeature
bool SetFeature(const registration::Feature &feature)
Definition: KDTreeFlann.cpp:83
open3d::geometry::KDTreeFlann::SearchKNN
int SearchKNN(const T &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:112
open3d::geometry::KDTreeFlann::dimension_
size_t dimension_
Definition: KDTreeFlann.h:96
flann
Definition: KDTreeFlann.h:37
open3d
Definition: PinholeCameraIntrinsic.cpp:34
open3d::geometry::KDTreeFlann::SetGeometry
bool SetGeometry(const Geometry &geometry)
Definition: KDTreeFlann.cpp:61
open3d::geometry::KDTreeSearchParam
Definition: KDTreeSearchParam.h:32
open3d::geometry::KDTreeFlann::Search
int Search(const T &query, const KDTreeSearchParam &param, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:88
open3d::geometry::KDTreeFlann::KDTreeFlann
KDTreeFlann(const KDTreeFlann &)=delete
Feature.h