Open3D (C++ API)  0.12.0
KDTreeFlann.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <vector>
32 
36 
38 namespace flann {
39 template <typename T>
40 class Matrix;
41 template <typename T>
42 struct L2;
43 template <typename T>
44 class Index;
45 } // namespace flann
47 
48 namespace open3d {
49 namespace geometry {
50 
54 class KDTreeFlann {
55 public:
57  KDTreeFlann();
61  KDTreeFlann(const Eigen::MatrixXd &data);
65  KDTreeFlann(const Geometry &geometry);
71  ~KDTreeFlann();
72  KDTreeFlann(const KDTreeFlann &) = delete;
73  KDTreeFlann &operator=(const KDTreeFlann &) = delete;
74 
75 public:
79  bool SetMatrixData(const Eigen::MatrixXd &data);
83  bool SetGeometry(const Geometry &geometry);
87  bool SetFeature(const pipelines::registration::Feature &feature);
88 
89  template <typename T>
90  int Search(const T &query,
91  const KDTreeSearchParam &param,
92  std::vector<int> &indices,
93  std::vector<double> &distance2) const;
94 
95  template <typename T>
96  int SearchKNN(const T &query,
97  int knn,
98  std::vector<int> &indices,
99  std::vector<double> &distance2) const;
100 
101  template <typename T>
102  int SearchRadius(const T &query,
103  double radius,
104  std::vector<int> &indices,
105  std::vector<double> &distance2) const;
106 
107  template <typename T>
108  int SearchHybrid(const T &query,
109  double radius,
110  int max_nn,
111  std::vector<int> &indices,
112  std::vector<double> &distance2) const;
113 
114 private:
119  bool SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data);
120 
121 protected:
122  std::vector<double> data_;
123  std::unique_ptr<flann::Matrix<double>> flann_dataset_;
124  std::unique_ptr<flann::Index<flann::L2<double>>> flann_index_;
125  size_t dimension_ = 0;
126  size_t dataset_size_ = 0;
127 };
128 
129 } // namespace geometry
130 } // namespace open3d
The base geometry class.
Definition: Geometry.h:37
Class to store featrues for registration.
Definition: Feature.h:47
Base class for KDTree search parameters.
Definition: KDTreeSearchParam.h:35
KDTree with FLANN for nearest neighbor search.
Definition: KDTreeFlann.h:54
Definition: NanoFlannIndex.h:55
Definition: PinholeCameraIntrinsic.cpp:35
std::vector< double > data_
Definition: KDTreeFlann.h:122
std::unique_ptr< flann::Index< flann::L2< double > > > flann_index_
Definition: KDTreeFlann.h:124
std::unique_ptr< flann::Matrix< double > > flann_dataset_
Definition: KDTreeFlann.h:123
const char const char value recording_handle imu_sample recording_handle uint8_t data
Definition: K4aPlugin.cpp:274