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mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t > Struct Template Reference

Detailed Description

template<typename distance_t, class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
struct mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >

A kd-tree builder for sets of features with SURF descriptors.

Example of usage:

TSURFDescriptorsKDTreeIndex<double> feats_kdtree(feats);
feats_kdtree.get_kdtree().knnSearch( ... );
See Also
CFeatureList, mrpt::vision::find_descriptor_pairings

Definition at line 102 of file descriptor_kdtrees.h.

#include <mrpt/vision/descriptor_kdtrees.h>

Public Types

typedef
nanoflann::KDTreeSingleIndexAdaptor
< metric_t,
detail::TSURFDesc2KDTree_Adaptor
< distance_t > > 
kdtree_t
 

Public Member Functions

 TSURFDescriptorsKDTreeIndex (const CFeatureList &feats)
 Constructor from a list of SIFT features. More...
 
void regenerate_kdtreee ()
 Re-creates the kd-tree, which must be done whenever the data source (the CFeatureList) changes. More...
 
kdtree_tget_kdtree ()
 Access to the kd-tree object. More...
 
const kdtree_tget_kdtree () const
 
 ~TSURFDescriptorsKDTreeIndex ()
 

Private Attributes

detail::TSURFDesc2KDTree_Adaptor
< distance_t > 
m_adaptor
 
kdtree_tm_kdtree
 
const CFeatureListm_feats
 

Member Typedef Documentation

template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
typedef nanoflann::KDTreeSingleIndexAdaptor<metric_t,detail::TSURFDesc2KDTree_Adaptor<distance_t> > mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::kdtree_t

Definition at line 105 of file descriptor_kdtrees.h.

Constructor & Destructor Documentation

template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::TSURFDescriptorsKDTreeIndex ( const CFeatureList feats)
inline

Constructor from a list of SIFT features.

Automatically build the KD-tree index. The list of features must NOT be empty or an exception will be raised.

Definition at line 110 of file descriptor_kdtrees.h.

References ASSERT_, mrpt::vision::CFeatureList::empty(), and mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee().

template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::~TSURFDescriptorsKDTreeIndex ( )
inline

Member Function Documentation

template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
kdtree_t& mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::get_kdtree ( )
inline

Access to the kd-tree object.

Definition at line 130 of file descriptor_kdtrees.h.

References mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::m_kdtree.

template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
const kdtree_t& mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::get_kdtree ( ) const
inline
template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
void mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee ( )
inline

Member Data Documentation

template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
detail::TSURFDesc2KDTree_Adaptor<distance_t> mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::m_adaptor
private
template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
const CFeatureList& mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::m_feats
private
template<typename distance_t , class metric_t = nanoflann::L2_Simple_Adaptor<float,detail::TSURFDesc2KDTree_Adaptor<distance_t>, distance_t>>
kdtree_t* mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::m_kdtree
private



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