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::TSimpleFeature
Definition at line 324 of file TSimpleFeature.h.
#include <mrpt/vision/TSimpleFeature.h>
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, 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 (BBOX &bb) const |
Public Attributes | |
| const std::vector< FEAT > & | m_data |
| TKDTreeSearchParams | kdtree_search_params |
| Parameters to tune the ANN searches. More... | |
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 |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| size_t | kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| 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 |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| size_t | kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const |
| This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More... | |
| 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 |
| TKDTreeDataHolder< 2 > | m_kdtree2d_data |
| TKDTreeDataHolder< 3 > | m_kdtree3d_data |
| TKDTreeDataHolder | m_kdtreeNd_data |
| bool | m_kdtree_is_uptodate |
| whether the KD tree needs to be rebuilt or not. More... | |
| void | kdtree_mark_as_outdated () const |
| To be called by child classes when KD tree data changes. More... | |
| void | rebuild_kdTree_2D () const |
| Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... More... | |
| void | rebuild_kdTree_3D () const |
| Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ... More... | |
Member Typedef Documentation
◆ self_t
|
inherited |
Definition at line 83 of file KDTreeCapable.h.
Constructor & Destructor Documentation
◆ CFeatureListKDTree()
|
inline |
Definition at line 335 of file TSimpleFeature.h.
Member Function Documentation
◆ derived() [1/2]
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inlineinherited |
CRTP helper method.
Definition at line 94 of file KDTreeCapable.h.
◆ derived() [2/2]
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inlineinherited |
CRTP helper method.
Definition at line 89 of file KDTreeCapable.h.
◆ kdtree_distance()
|
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 354 of file TSimpleFeature.h.
References ASSERTDEB_, mrpt::vision::CFeatureListKDTree< FEAT >::m_data, and MRPT_UNUSED_PARAM.
◆ kdtree_get_bbox()
|
inline |
Definition at line 372 of file TSimpleFeature.h.
References MRPT_UNUSED_PARAM.
◆ kdtree_get_point_count()
|
inline |
Must return the number of data points.
Definition at line 341 of file TSimpleFeature.h.
References mrpt::vision::CFeatureListKDTree< FEAT >::m_data.
◆ kdtree_get_pt()
|
inline |
Returns the dim'th component of the idx'th point in the class:
Definition at line 343 of file TSimpleFeature.h.
References ASSERTDEB_, and mrpt::vision::CFeatureListKDTree< FEAT >::m_data.
◆ kdtree_mark_as_outdated()
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inlineprotectedinherited |
To be called by child classes when KD tree data changes.
Definition at line 732 of file KDTreeCapable.h.
◆ kdTreeClosestPoint2D() [1/3]
|
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 178 of file KDTreeCapable.h.
◆ kdTreeClosestPoint2D() [2/3]
|
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 154 of file KDTreeCapable.h.
◆ kdTreeClosestPoint2D() [3/3]
|
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.
Definition at line 125 of file KDTreeCapable.h.
◆ kdTreeClosestPoint2DsqrError() [1/2]
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inlineinherited |
Definition at line 200 of file KDTreeCapable.h.
◆ kdTreeClosestPoint2DsqrError() [2/2]
|
inlineinherited |
Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.
Definition at line 193 of file KDTreeCapable.h.
◆ kdTreeClosestPoint3D() [1/3]
|
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 464 of file KDTreeCapable.h.
◆ kdTreeClosestPoint3D() [2/3]
|
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 439 of file KDTreeCapable.h.
◆ kdTreeClosestPoint3D() [3/3]
|
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 408 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint2D() [1/2]
|
inlineinherited |
Definition at line 325 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint2D() [2/2]
|
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
Definition at line 293 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint2DIdx() [1/2]
|
inlineinherited |
Definition at line 380 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint2DIdx() [2/2]
|
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.
◆ kdTreeNClosestPoint3D() [1/2]
|
inlineinherited |
Definition at line 592 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint3D() [2/2]
|
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 499 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint3DIdx() [1/2]
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inlineinherited |
Definition at line 719 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint3DIdx() [2/2]
|
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 696 of file KDTreeCapable.h.
◆ kdTreeNClosestPoint3DWithIdx()
|
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 557 of file KDTreeCapable.h.
◆ kdTreeRadiusSearch2D()
|
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.
Definition at line 661 of file KDTreeCapable.h.
◆ kdTreeRadiusSearch3D()
|
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.
Definition at line 626 of file KDTreeCapable.h.
◆ kdTreeTwoClosestPoint2D() [1/2]
|
inlineinherited |
Definition at line 259 of file KDTreeCapable.h.
◆ kdTreeTwoClosestPoint2D() [2/2]
|
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 226 of file KDTreeCapable.h.
◆ mark_as_outdated()
|
inline |
Definition at line 328 of file TSimpleFeature.h.
References mrpt::math::KDTreeCapable< CFeatureListKDTree< FEAT > >::kdtree_mark_as_outdated().
Referenced by mrpt::vision::detail::trackFeatures_addNewFeats_simple_list().
◆ rebuild_kdTree_2D()
|
inlineprivateinherited |
Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ...
asking the child class for the data points.
Definition at line 779 of file KDTreeCapable.h.
◆ rebuild_kdTree_3D()
|
inlineprivateinherited |
Rebuild, if needed the KD-tree for 2D (nDims=2), 3D (nDims=3), ...
asking the child class for the data points.
Definition at line 813 of file KDTreeCapable.h.
Member Data Documentation
◆ kdtree_search_params
|
inherited |
Parameters to tune the ANN searches.
Definition at line 103 of file KDTreeCapable.h.
◆ m_data
| const std::vector<FEAT>& mrpt::vision::CFeatureListKDTree< FEAT >::m_data |
Definition at line 334 of file TSimpleFeature.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().
◆ m_kdtree2d_data
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mutableprivateinherited |
Definition at line 771 of file KDTreeCapable.h.
◆ m_kdtree3d_data
|
mutableprivateinherited |
Definition at line 772 of file KDTreeCapable.h.
◆ m_kdtree_is_uptodate
|
mutableprivateinherited |
whether the KD tree needs to be rebuilt or not.
Definition at line 775 of file KDTreeCapable.h.
◆ m_kdtreeNd_data
|
mutableprivateinherited |
Definition at line 773 of file KDTreeCapable.h.