40 template <
class MatrixType,
int DIM,
class Distance,
bool row_major>
41 struct KDTreeEigenMatrixAdaptor;
89 std::vector<int> &indices,
90 std::vector<double> &distance2)
const;
95 std::vector<int> &indices,
96 std::vector<double> &distance2)
const;
101 std::vector<int> &indices,
102 std::vector<double> &distance2)
const;
104 template <
typename T>
108 std::vector<int> &indices,
109 std::vector<double> &distance2)
const;
116 bool SetRawData(
const Eigen::Map<const Eigen::MatrixXd> &
data);
119 using KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor<
120 Eigen::Map<const Eigen::MatrixXd>,
122 nanoflann::metric_L2,
The base geometry class.
Definition: Geometry.h:37
KDTree with FLANN for nearest neighbor search.
Definition: KDTreeFlann.h:51
int Search(const T &query, const KDTreeSearchParam ¶m, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:88
KDTreeFlann()
Default Constructor.
Definition: KDTreeFlann.cpp:44
bool SetGeometry(const Geometry &geometry)
Definition: KDTreeFlann.cpp:61
std::vector< double > data_
Definition: KDTreeFlann.h:125
bool SetMatrixData(const Eigen::MatrixXd &data)
Definition: KDTreeFlann.cpp:56
nanoflann::KDTreeEigenMatrixAdaptor< Eigen::Map< const Eigen::MatrixXd >, -1, nanoflann::metric_L2, false > KDTree_t
Definition: KDTreeFlann.h:123
std::unique_ptr< Eigen::Map< const Eigen::MatrixXd > > data_interface_
Definition: KDTreeFlann.h:126
int SearchRadius(const T &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:135
int SearchKNN(const T &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:112
~KDTreeFlann()
Definition: KDTreeFlann.cpp:54
bool SetFeature(const pipelines::registration::Feature &feature)
Definition: KDTreeFlann.cpp:83
int SearchHybrid(const T &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const
Definition: KDTreeFlann.cpp:161
size_t dataset_size_
Definition: KDTreeFlann.h:129
KDTreeFlann & operator=(const KDTreeFlann &)=delete
size_t dimension_
Definition: KDTreeFlann.h:128
std::unique_ptr< KDTree_t > nanoflann_index_
Definition: KDTreeFlann.h:127
KDTreeFlann(const KDTreeFlann &)=delete
Base class for KDTree search parameters.
Definition: KDTreeSearchParam.h:35
Class to store featrues for registration.
Definition: Feature.h:47
const char const char value recording_handle imu_sample recording_handle uint8_t data
Definition: K4aPlugin.cpp:288
Definition: PinholeCameraIntrinsic.cpp:35