#include <mrpt/otherlibs/do_opencv_includes.h>

Include dependency graph for kdtree.h:

Functions
struct kd_node *	kdtree_build (struct feature *features, int n)
	A function to build a k-d tree database from keypoints in an array. More...

int	kdtree_bbf_knn (struct kd_node kd_root, struct feature feat, int k, struct feature ***nbrs, int max_nn_chks)
	Finds an image feature's approximate k nearest neighbors in a kd tree using Best Bin First search. More...

int	kdtree_bbf_spatial_knn (struct kd_node kd_root, struct feature feat, int k, struct feature ***nbrs, int max_nn_chks, CvRect rect, int model)
	Finds an image feature's approximate k nearest neighbors within a specified spatial region in a kd tree using Best Bin First search. More...

void	kdtree_release (struct kd_node *kd_root)
	De-allocates memory held by a kd tree More...

Function Documentation

◆ kdtree_bbf_knn()

Finds an image feature's approximate k nearest neighbors in a kd tree using Best Bin First search.

Parameters

kd_root	root of an image feature kd tree
feat	image feature for whose neighbors to search
k	number of neighbors to find
nbrs	pointer to an array in which to store pointers to neighbors in order of increasing descriptor distance
max_nn_chks	search is cut off after examining this many tree entries

Returns: Returns the number of neighbors found and stored in nbrs, or -1 on error.

Finds an image feature's approximate k nearest neighbors within a specified spatial region in a kd tree using Best Bin First search.

Parameters

kd_root	root of an image feature kd tree
feat	image feature for whose neighbors to search
k	number of neighbors to find
nbrs	pointer to an array in which to store pointers to neighbors in order of increasing descriptor distance
max_nn_chks	search is cut off after examining this many tree entries
rect	rectangular region in which to search for neighbors
model	if true, spatial search is based on kdtree features' model locations; otherwise it is based on their image locations

Returns: Returns the number of neighbors found and stored in nbrs (in case k neighbors could not be found before examining max_nn_checks keypoint entries).

A function to build a k-d tree database from keypoints in an array.

Parameters

features	an array of features
n	the number of features in features

void kdtree_release ( struct kd_node * kd_root )

De-allocates memory held by a kd tree

Parameters

kd_root pointer to the root of a kd tree