class mrpt::maps::NearestNeighborsCapable

Overview

Virtual interface for maps having the capability of searching the closest neighbor(s) of a given query 2D or 3D point.

Note this is more generic than mrpt::math::KDTreeCapable since it does not assume the use of KD-trees, and it is also non templatized, so users can use dynamic casting to interact with maps in a generic way.

New in MRPT 2.11.3

#include <mrpt/maps/NearestNeighborsCapable.h>

class NearestNeighborsCapable
{
public:
    // construction

    NearestNeighborsCapable();

    // methods

    virtual bool nn_has_indices_or_ids() const = 0;
    virtual size_t nn_index_count() const = 0;

    virtual bool nn_single_search(
        const mrpt::math::TPoint3Df& query,
        mrpt::math::TPoint3Df& result,
        float& out_dist_sqr,
        uint64_t& resultIndexOrIDOrID
        ) const = 0;

    virtual bool nn_single_search(
        const mrpt::math::TPoint2Df& query,
        mrpt::math::TPoint2Df& result,
        float& out_dist_sqr,
        uint64_t& resultIndexOrIDOrID
        ) const = 0;

    virtual void nn_multiple_search(
        const mrpt::math::TPoint3Df& query,
        const size_t N,
        std::vector<mrpt::math::TPoint3Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs
        ) const = 0;

    virtual void nn_multiple_search(
        const mrpt::math::TPoint2Df& query,
        const size_t N,
        std::vector<mrpt::math::TPoint2Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs
        ) const = 0;

    virtual void nn_radius_search(
        const mrpt::math::TPoint3Df& query,
        const float search_radius_sqr,
        std::vector<mrpt::math::TPoint3Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs,
        size_t maxPoints = 0
        ) const = 0;

    virtual void nn_radius_search(
        const mrpt::math::TPoint2Df& query,
        const float search_radius_sqr,
        std::vector<mrpt::math::TPoint2Df>& results,
        std::vector<float>& out_dists_sqr,
        std::vector<uint64_t>& resultIndicesOrIDs,
        size_t maxPoints = 0
        ) const = 0;
};

// direct descendants

template <typename voxel_node_t, typename occupancy_t = int8_t>
class CVoxelMapOccupancyBase;

class COccupancyGridMap2D;
class COccupancyGridMap3D;
class CPointsMap;

Methods

virtual bool nn_has_indices_or_ids() const = 0

Returns true if the rest of nn_* methods will populate the output indices values with 0-based contiguous indices.

Returns false if indices are actually sparse ID numbers without any expectation of they be contiguous or start near zero.

virtual size_t nn_index_count() const = 0

If nn_has_indices_or_ids() returns true, this must return the number of “points” (or whatever entity) the indices correspond to.

Otherwise, the return value should be ignored.

virtual bool nn_single_search(
    const mrpt::math::TPoint3Df& query,
    mrpt::math::TPoint3Df& result,
    float& out_dist_sqr,
    uint64_t& resultIndexOrIDOrID
    ) const = 0

Search for the closest 3D point to a given one.

Parameters:

query	The query input point.
result	The found closest point.
out_dist_sqr	The square Euclidean distance between the query and the returned point.
resultIndexOrID	The index or ID of the result point in the map.

Returns:

True if successful, false if no point was found.

virtual void nn_multiple_search(
    const mrpt::math::TPoint3Df& query,
    const size_t N,
    std::vector<mrpt::math::TPoint3Df>& results,
    std::vector<float>& out_dists_sqr,
    std::vector<uint64_t>& resultIndicesOrIDs
    ) const = 0

Search for the N closest 3D points to a given one.

Parameters:

query	The query input point.
results	The found closest points.
out_dists_sqr	The square Euclidean distances between the query and the returned point.
resultIndicesOrIDs	The indices or IDs of the result points.

virtual void nn_radius_search(
    const mrpt::math::TPoint3Df& query,
    const float search_radius_sqr,
    std::vector<mrpt::math::TPoint3Df>& results,
    std::vector<float>& out_dists_sqr,
    std::vector<uint64_t>& resultIndicesOrIDs,
    size_t maxPoints = 0
    ) const = 0

Radius search for closest 3D points to a given one.

Parameters:

query	The query input point.
search_radius_sqr	The search radius, squared.
results	The found closest points.
out_dists_sqr	The square Euclidean distances between the query and the returned point.
resultIndicesOrIDs	The indices or IDs of the result points.
maxPoints	If !=0, the maximum number of neigbors to return.