mrpt::vision::CFeatureListKDTree< FEAT > Class Template Reference

Detailed Description

template<typename FEAT>
class mrpt::vision::CFeatureListKDTree< FEAT >

Helper class: KD-tree search class for vector<KeyPoint>: Call mark_as_outdated() to force rebuilding the kd-tree after modifying the linked feature list.

Template Parameters

FEAT	Can be cv::KeyPoint or mrpt::vision::TKeyPoint

Definition at line 299 of file TKeyPoint.h.

#include <mrpt/vision/TKeyPoint.h>

Inheritance diagram for mrpt::vision::CFeatureListKDTree< FEAT >:

Public Types
using	self_t = KDTreeCapable< CFeatureListKDTree< FEAT >, float, nanoflann::L2_Simple_Adaptor< float, CFeatureListKDTree< FEAT > > >

Public Member Functions
void	mark_as_outdated ()
	CFeatureListKDTree (const std::vector< FEAT > &data)
const CFeatureListKDTree< FEAT > &	derived () const
	CRTP helper method. More...
CFeatureListKDTree< FEAT > &	derived ()
	CRTP helper method. More...
Methods that MUST be implemented by children classes of
KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points. More...
float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class: More...
float	kdtree_distance (const float *p1, const size_t idx_p2, [[maybe_unused]] size_t size) const
	Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...
template<typename BBOX >
bool	kdtree_get_bbox ([[maybe_unused]] BBOX &bb) const
Public utility methods to query the KD-tree
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const
size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const
float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...
float	kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const
void	kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
	KD Tree-based search for the TWO closest point to some given 2D coordinates. More...
void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const
std::vector< size_t >	kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates. More...
std::vector< size_t >	kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const
void	kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...
void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const
size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...
size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const
size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const
void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...
void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const
void	kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...
size_t	kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 3D point. More...
size_t	kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 2D point. More...
void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...
void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const
void	kdTreeEnsureIndexBuilt3D ()
void	kdTreeEnsureIndexBuilt2D ()

Public Attributes
const std::vector< FEAT > &	m_data
TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches. More...

Protected Member Functions
void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes. More...

Member Typedef Documentation

self_t

using mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::self_t = KDTreeCapable<CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >

inherited

Definition at line 87 of file KDTreeCapable.h.

Constructor & Destructor Documentation

CFeatureListKDTree()

template<typename FEAT >

mrpt::vision::CFeatureListKDTree< FEAT >::CFeatureListKDTree ( const std::vector< FEAT > &  data )

inline

Definition at line 310 of file TKeyPoint.h.

Member Function Documentation

derived() [1/2]

const CFeatureListKDTree< FEAT > & mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 100 of file KDTreeCapable.h.

derived() [2/2]

CFeatureListKDTree< FEAT > & mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 105 of file KDTreeCapable.h.

kdtree_distance()

template<typename FEAT >

float mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_distance ( const float *  p1, const size_t  idx_p2, [[maybe_unused] ] size_t  size  ) const

inline

Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

Definition at line 329 of file TKeyPoint.h.

References ASSERTDEB_, mrpt::vision::CFeatureListKDTree< FEAT >::m_data, and mrpt::math::size().

Here is the call graph for this function:

kdtree_get_bbox()

template<typename FEAT >

template<typename BBOX >

bool mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_get_bbox ( [[maybe_unused] ] BBOX &  bb ) const

inline

Definition at line 347 of file TKeyPoint.h.

kdtree_get_point_count()

template<typename FEAT >

size_t mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_get_point_count ( ) const

inline

Must return the number of data points.

Definition at line 316 of file TKeyPoint.h.

References mrpt::vision::CFeatureListKDTree< FEAT >::m_data.

kdtree_get_pt()

template<typename FEAT >

float mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_get_pt ( const size_t  idx, int  dim  ) const

inline

Returns the dim'th component of the idx'th point in the class:

Definition at line 318 of file TKeyPoint.h.

References ASSERTDEB_, and mrpt::vision::CFeatureListKDTree< FEAT >::m_data.

kdtree_mark_as_outdated()

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdtree_mark_as_outdated ( ) const

inlineprotectedinherited

To be called by child classes when KD tree data changes.

Definition at line 714 of file KDTreeCapable.h.

Referenced by mrpt::vision::CFeatureListKDTree< FEAT >::mark_as_outdated().

kdTreeClosestPoint2D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint2D ( float  x0, float  y0, float &  out_x, float &  out_y, float &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns

The index of the closest point in the map array.

See also

kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 136 of file KDTreeCapable.h.

kdTreeClosestPoint2D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint2D ( float  x0, float  y0, float &  out_dist_sqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 163 of file KDTreeCapable.h.

kdTreeClosestPoint2D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint2D ( const TPoint2D &  p0, TPoint2D &  pOut, float &  outDistSqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 185 of file KDTreeCapable.h.

kdTreeClosestPoint2DsqrError() [1/2]

float mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint2DsqrError ( float  x0, float  y0  ) const

inlineinherited

Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.

Definition at line 199 of file KDTreeCapable.h.

kdTreeClosestPoint2DsqrError() [2/2]

float mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint2DsqrError ( const TPoint2D &  p0 ) const

inlineinherited

Definition at line 206 of file KDTreeCapable.h.

kdTreeClosestPoint3D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint3D ( float  x0, float  y0, float  z0, float &  out_x, float &  out_y, float &  out_z, float &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_z	The Z coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns

The index of the closest point in the map array.

See also

kdTreeClosestPoint2D

Definition at line 405 of file KDTreeCapable.h.

kdTreeClosestPoint3D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint3D ( float  x0, float  y0, float  z0, float &  out_dist_sqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 433 of file KDTreeCapable.h.

kdTreeClosestPoint3D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeClosestPoint3D ( const TPoint3D &  p0, TPoint3D &  pOut, float &  outDistSqr  ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 455 of file KDTreeCapable.h.

kdTreeEnsureIndexBuilt2D()

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeEnsureIndexBuilt2D ( )

inlineinherited

Definition at line 708 of file KDTreeCapable.h.

kdTreeEnsureIndexBuilt3D()

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeEnsureIndexBuilt3D ( )

inlineinherited

Definition at line 707 of file KDTreeCapable.h.

kdTreeNClosestPoint2D() [1/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint2D ( float  x0, float  y0, size_t  knn, std::vector< float > &  out_x, std::vector< float > &  out_y, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

Returns

The list of indices

See also

kdTreeClosestPoint2D

kdTreeTwoClosestPoint2D

Definition at line 296 of file KDTreeCapable.h.

kdTreeNClosestPoint2D() [2/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint2D ( const TPoint2D &  p0, size_t  N, std::vector< TPoint2D > &  pOut, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 326 of file KDTreeCapable.h.

kdTreeNClosestPoint2DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint2DIdx ( float  x0, float  y0, size_t  knn, std::vector< size_t > &  out_idx, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also

kdTreeClosestPoint2D

Definition at line 358 of file KDTreeCapable.h.

kdTreeNClosestPoint2DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint2DIdx ( const TPoint2D &  p0, size_t  N, std::vector< size_t > &  outIdx, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 378 of file KDTreeCapable.h.

kdTreeNClosestPoint3D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint3D ( float  x0, float  y0, float  z0, size_t  knn, std::vector< float > &  out_x, std::vector< float > &  out_y, std::vector< float > &  out_z, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also

kdTreeNClosestPoint2D

Definition at line 489 of file KDTreeCapable.h.

kdTreeNClosestPoint3D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint3D ( const TPoint3D &  p0, size_t  N, std::vector< TPoint3D > &  pOut, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 576 of file KDTreeCapable.h.

kdTreeNClosestPoint3DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint3DIdx ( float  x0, float  y0, float  z0, size_t  knn, std::vector< size_t > &  out_idx, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also

kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 679 of file KDTreeCapable.h.

kdTreeNClosestPoint3DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint3DIdx ( const TPoint3D &  p0, size_t  N, std::vector< size_t > &  outIdx, std::vector< float > &  outDistSqr  ) const

inlineinherited

Definition at line 699 of file KDTreeCapable.h.

kdTreeNClosestPoint3DWithIdx()

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeNClosestPoint3DWithIdx ( float  x0, float  y0, float  z0, size_t  knn, std::vector< float > &  out_x, std::vector< float > &  out_y, std::vector< float > &  out_z, std::vector< size_t > &  out_idx, std::vector< float > &  out_dist_sqr  ) const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_idx	The vector containing the indexes of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also

kdTreeNClosestPoint2D

Definition at line 544 of file KDTreeCapable.h.

kdTreeRadiusSearch2D()

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeRadiusSearch2D ( const float  x0, const float  y0, const float  maxRadiusSqr, std::vector< std::pair< size_t, float >> &  out_indices_dist  ) const

inlineinherited

KD Tree-based search for all the points within a given radius of some 2D point.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns

Number of found points.

See also

kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 644 of file KDTreeCapable.h.

kdTreeRadiusSearch3D()

size_t mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeRadiusSearch3D ( const float  x0, const float  y0, const float  z0, const float  maxRadiusSqr, std::vector< std::pair< size_t, float >> &  out_indices_dist  ) const

inlineinherited

KD Tree-based search for all the points within a given radius of some 3D point.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns

Number of found points.

See also

kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 609 of file KDTreeCapable.h.

kdTreeTwoClosestPoint2D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeTwoClosestPoint2D ( float  x0, float  y0, float &  out_x1, float &  out_y1, float &  out_x2, float &  out_y2, float &  out_dist_sqr1, float &  out_dist_sqr2  ) const

inlineinherited

KD Tree-based search for the TWO closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

• It is called for the first time
• The map has changed
• The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x1	The X coordinate of the first correspondence.
out_y1	The Y coordinate of the first correspondence.
out_x2	The X coordinate of the second correspondence.
out_y2	The Y coordinate of the second correspondence.
out_dist_sqr1	The square distance between the query and the first returned point.
out_dist_sqr2	The square distance between the query and the second returned point.

See also

kdTreeClosestPoint2D

Definition at line 231 of file KDTreeCapable.h.

kdTreeTwoClosestPoint2D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdTreeTwoClosestPoint2D ( const TPoint2D &  p0, TPoint2D &  pOut1, TPoint2D &  pOut2, float &  outDistSqr1, float &  outDistSqr2  ) const

inlineinherited

Definition at line 262 of file KDTreeCapable.h.

mark_as_outdated()

template<typename FEAT >

void mrpt::vision::CFeatureListKDTree< FEAT >::mark_as_outdated ( )

inline

Definition at line 303 of file TKeyPoint.h.

References mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > >::kdtree_mark_as_outdated().

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Member Data Documentation

kdtree_search_params

TKDTreeSearchParams mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > , float , nanoflann::L2_Simple_Adaptor<float , CFeatureListKDTree< FEAT > > >::kdtree_search_params

inherited

Parameters to tune the ANN searches.

Definition at line 114 of file KDTreeCapable.h.

m_data

template<typename FEAT >

const std::vector<FEAT>& mrpt::vision::CFeatureListKDTree< FEAT >::m_data

Definition at line 309 of file TKeyPoint.h.

Referenced by mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_distance(), mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_get_point_count(), and mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_get_pt().