Open3D (C++ API)
KDTreeFlann.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <vector>
32 
36 
37 namespace flann {
38 template <typename T>
39 class Matrix;
40 template <typename T>
41 struct L2;
42 template <typename T>
43 class Index;
44 } // namespace flann
45 
46 namespace open3d {
47 namespace geometry {
48 
49 class KDTreeFlann {
50 public:
51  KDTreeFlann();
52  KDTreeFlann(const Eigen::MatrixXd &data);
53  KDTreeFlann(const Geometry &geometry);
54  KDTreeFlann(const registration::Feature &feature);
55  ~KDTreeFlann();
56  KDTreeFlann(const KDTreeFlann &) = delete;
57  KDTreeFlann &operator=(const KDTreeFlann &) = delete;
58 
59 public:
60  bool SetMatrixData(const Eigen::MatrixXd &data);
61  bool SetGeometry(const Geometry &geometry);
62  bool SetFeature(const registration::Feature &feature);
63 
64  template <typename T>
65  int Search(const T &query,
66  const KDTreeSearchParam &param,
67  std::vector<int> &indices,
68  std::vector<double> &distance2) const;
69 
70  template <typename T>
71  int SearchKNN(const T &query,
72  int knn,
73  std::vector<int> &indices,
74  std::vector<double> &distance2) const;
75 
76  template <typename T>
77  int SearchRadius(const T &query,
78  double radius,
79  std::vector<int> &indices,
80  std::vector<double> &distance2) const;
81 
82  template <typename T>
83  int SearchHybrid(const T &query,
84  double radius,
85  int max_nn,
86  std::vector<int> &indices,
87  std::vector<double> &distance2) const;
88 
89 private:
90  bool SetRawData(const Eigen::Map<const Eigen::MatrixXd> &data);
91 
92 protected:
93  std::vector<double> data_;
94  std::unique_ptr<flann::Matrix<double>> flann_dataset_;
95  std::unique_ptr<flann::Index<flann::L2<double>>> flann_index_;
96  size_t dimension_ = 0;
97  size_t dataset_size_ = 0;
98 };
99 
100 } // namespace geometry
101 } // namespace open3d
Definition: Geometry.h:32
Definition: KDTreeFlann.h:39
Definition: KDTreeFlann.h:43
Definition: KDTreeSearchParam.h:32
Definition: KDTreeFlann.h:49
Definition: PinholeCameraIntrinsic.cpp:34
Definition: KDTreeFlann.h:37
std::vector< double > data_
Definition: KDTreeFlann.h:93
Definition: KDTreeFlann.h:41
Definition: Feature.h:43
std::unique_ptr< flann::Index< flann::L2< double > > > flann_index_
Definition: KDTreeFlann.h:95
std::unique_ptr< flann::Matrix< double > > flann_dataset_
Definition: KDTreeFlann.h:94