open3d::geometry::KDTreeFlann Class Reference

KDTree with FLANN for nearest neighbor search. More...

#include <KDTreeFlann.h>

Public Member Functions
	KDTreeFlann ()
	Default Constructor. More...
	KDTreeFlann (const Eigen::MatrixXd &data)
	Parameterized Constructor. More...
	KDTreeFlann (const Geometry &geometry)
	Parameterized Constructor. More...
	KDTreeFlann (const pipelines::registration::Feature &feature)
	Parameterized Constructor. More...
	~KDTreeFlann ()
	KDTreeFlann (const KDTreeFlann &)=delete
KDTreeFlann &	operator= (const KDTreeFlann &)=delete
bool	SetMatrixData (const Eigen::MatrixXd &data)
bool	SetGeometry (const Geometry &geometry)
bool	SetFeature (const pipelines::registration::Feature &feature)
template<typename T >
int	Search (const T &query, const KDTreeSearchParam &param, std::vector< int > &indices, std::vector< double > &distance2) const
template<typename T >
int	SearchKNN (const T &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const
template<typename T >
int	SearchRadius (const T &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const
template<typename T >
int	SearchHybrid (const T &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const

Protected Types
using	KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor< Eigen::Map< const Eigen::MatrixXd >, -1, nanoflann::metric_L2, false >

Protected Attributes
std::vector< double >	data_
std::unique_ptr< Eigen::Map< const Eigen::MatrixXd > >	data_interface_
std::unique_ptr< KDTree_t >	nanoflann_index_
size_t	dimension_ = 0
size_t	dataset_size_ = 0

Detailed Description

KDTree with FLANN for nearest neighbor search.

Member Typedef Documentation

KDTree_t

using open3d::geometry::KDTreeFlann::KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor< Eigen::Map<const Eigen::MatrixXd>, -1, nanoflann::metric_L2, false>

protected

Constructor & Destructor Documentation

KDTreeFlann() [1/5]

open3d::geometry::KDTreeFlann::KDTreeFlann

(

)

Default Constructor.

KDTreeFlann() [2/5]

open3d::geometry::KDTreeFlann::KDTreeFlann

(

const Eigen::MatrixXd &

data

)

Parameterized Constructor.

Parameters

data	Provides set of data points for KDTree construction.

KDTreeFlann() [3/5]

open3d::geometry::KDTreeFlann::KDTreeFlann

(

const Geometry &

geometry

)

Parameterized Constructor.

Parameters

geometry

Provides geometry from which KDTree is constructed.

KDTreeFlann() [4/5]

open3d::geometry::KDTreeFlann::KDTreeFlann

(

const pipelines::registration::Feature &

feature

)

Parameterized Constructor.

Parameters

feature

Provides a set of features from which the KDTree is constructed.

~KDTreeFlann()

open3d::geometry::KDTreeFlann::~KDTreeFlann

(

)

KDTreeFlann() [5/5]

open3d::geometry::KDTreeFlann::KDTreeFlann ( const KDTreeFlann &  )

delete

Member Function Documentation

operator=()

KDTreeFlann& open3d::geometry::KDTreeFlann::operator= ( const KDTreeFlann &  )

delete

Search()

template<typename T >

int open3d::geometry::KDTreeFlann::Search	(	const T &	query,
		const KDTreeSearchParam &	param,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

SearchHybrid()

template<typename T >

int open3d::geometry::KDTreeFlann::SearchHybrid	(	const T &	query,
		double	radius,
		int	max_nn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

SearchKNN()

template<typename T >

int open3d::geometry::KDTreeFlann::SearchKNN	(	const T &	query,
		int	knn,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

SearchRadius()

template<typename T >

int open3d::geometry::KDTreeFlann::SearchRadius	(	const T &	query,
		double	radius,
		std::vector< int > &	indices,
		std::vector< double > &	distance2
	)		const

SetFeature()

bool open3d::geometry::KDTreeFlann::SetFeature

(

const pipelines::registration::Feature &

feature

)

Sets the data for the KDTree from the feature data.

Parameters

feature

Set of features for KDTree construction.

SetGeometry()

bool open3d::geometry::KDTreeFlann::SetGeometry

(

const Geometry &

geometry

)

Sets the data for the KDTree from geometry.

Parameters

geometry

Geometry for KDTree Construction.

SetMatrixData()

bool open3d::geometry::KDTreeFlann::SetMatrixData

(

const Eigen::MatrixXd &

data

)

Sets the data for the KDTree from a matrix.

Parameters

data	Data points for KDTree Construction.

Field Documentation

data_

std::vector<double> open3d::geometry::KDTreeFlann::data_

protected

data_interface_

std::unique_ptr<Eigen::Map<const Eigen::MatrixXd> > open3d::geometry::KDTreeFlann::data_interface_

protected

dataset_size_

size_t open3d::geometry::KDTreeFlann::dataset_size_ = 0

protected

dimension_

size_t open3d::geometry::KDTreeFlann::dimension_ = 0

protected

nanoflann_index_

std::unique_ptr<KDTree_t> open3d::geometry::KDTreeFlann::nanoflann_index_

protected

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The documentation for this class was generated from the following files:

• /home/runner/work/Open3D/Open3D/cpp/open3d/geometry/KDTreeFlann.h (9238339 (Tue Mar 14 18:49:09 2023 -0700))
• /home/runner/work/Open3D/Open3D/cpp/open3d/geometry/KDTreeFlann.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))