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 322 of file TSimpleFeature.h.

#include <mrpt/vision/TSimpleFeature.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, 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 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

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 81 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 333 of file TSimpleFeature.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 87 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 92 of file KDTreeCapable.h.

◆ kdtree_distance()

template<typename FEAT >

float mrpt::vision::CFeatureListKDTree< FEAT >::kdtree_distance	(	const float *	p1,
		const size_t	idx_p2,
		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 352 of file TSimpleFeature.h.

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

◆ kdtree_get_bbox()

template<typename FEAT >

template<typename BBOX >

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

inline

Definition at line 370 of file TSimpleFeature.h.

References MRPT_UNUSED_PARAM.

◆ 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 339 of file TSimpleFeature.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 341 of file TSimpleFeature.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 730 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 123 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 152 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 176 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 191 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 198 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 406 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 437 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 462 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 291 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 323 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 356 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 497 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 590 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 694 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 717 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 555 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 659 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 624 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 224 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 257 of file KDTreeCapable.h.

◆ mark_as_outdated()

template<typename FEAT >

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

inline

Definition at line 326 of file TSimpleFeature.h.

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

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 101 of file KDTreeCapable.h.

◆ m_data

template<typename FEAT >

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

Definition at line 332 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().

Detailed Description

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Member Typedef Documentation

◆ self_t

Constructor & Destructor Documentation

◆ CFeatureListKDTree()

Member Function Documentation

◆ derived() [1/2]

◆ derived() [2/2]

◆ kdtree_distance()

◆ kdtree_get_bbox()

◆ kdtree_get_point_count()

◆ kdtree_get_pt()

◆ kdtree_mark_as_outdated()

◆ kdTreeClosestPoint2D() [1/3]

◆ kdTreeClosestPoint2D() [2/3]

◆ kdTreeClosestPoint2D() [3/3]

◆ kdTreeClosestPoint2DsqrError() [1/2]

◆ kdTreeClosestPoint2DsqrError() [2/2]

◆ kdTreeClosestPoint3D() [1/3]

◆ kdTreeClosestPoint3D() [2/3]

◆ kdTreeClosestPoint3D() [3/3]

◆ kdTreeNClosestPoint2D() [1/2]

◆ kdTreeNClosestPoint2D() [2/2]

◆ kdTreeNClosestPoint2DIdx() [1/2]

◆ kdTreeNClosestPoint2DIdx() [2/2]

◆ kdTreeNClosestPoint3D() [1/2]

◆ kdTreeNClosestPoint3D() [2/2]

◆ kdTreeNClosestPoint3DIdx() [1/2]

◆ kdTreeNClosestPoint3DIdx() [2/2]

◆ kdTreeNClosestPoint3DWithIdx()

◆ kdTreeRadiusSearch2D()

◆ kdTreeRadiusSearch3D()

◆ kdTreeTwoClosestPoint2D() [1/2]

◆ kdTreeTwoClosestPoint2D() [2/2]

◆ mark_as_outdated()

Member Data Documentation

◆ kdtree_search_params

◆ m_data

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