21template <
class MatrixType,
int DIM,
class Distance,
bool row_major>
22struct KDTreeEigenMatrixAdaptor;
70 std::vector<int> &indices,
71 std::vector<double> &distance2)
const;
76 std::vector<int> &indices,
77 std::vector<double> &distance2)
const;
82 std::vector<int> &indices,
83 std::vector<double> &distance2)
const;
89 std::vector<int> &indices,
90 std::vector<double> &distance2)
const;
97 bool SetRawData(
const Eigen::Map<const Eigen::MatrixXd> &data);
100 using KDTree_t = nanoflann::KDTreeEigenMatrixAdaptor<
const Eigen::MatrixXd,
102 nanoflann::metric_L2,
The base geometry class.
Definition Geometry.h:18
KDTree with FLANN for nearest neighbor search.
Definition KDTreeFlann.h:32
int Search(const T &query, const KDTreeSearchParam ¶m, std::vector< int > &indices, std::vector< double > &distance2) const
Definition KDTreeFlann.cpp:69
KDTreeFlann()
Default Constructor.
Definition KDTreeFlann.cpp:25
bool SetGeometry(const Geometry &geometry)
Definition KDTreeFlann.cpp:42
bool SetMatrixData(const Eigen::MatrixXd &data)
Definition KDTreeFlann.cpp:37
int SearchRadius(const T &query, double radius, std::vector< int > &indices, std::vector< double > &distance2) const
Definition KDTreeFlann.cpp:115
int SearchKNN(const T &query, int knn, std::vector< int > &indices, std::vector< double > &distance2) const
Definition KDTreeFlann.cpp:93
~KDTreeFlann()
Definition KDTreeFlann.cpp:35
bool SetFeature(const pipelines::registration::Feature &feature)
Definition KDTreeFlann.cpp:64
KDTreeFlann & operator=(const KDTreeFlann &)=delete
int SearchHybrid(const T &query, double radius, int max_nn, std::vector< int > &indices, std::vector< double > &distance2) const
Definition KDTreeFlann.cpp:140
nanoflann::KDTreeEigenMatrixAdaptor< const Eigen::MatrixXd, -1, nanoflann::metric_L2, false > KDTree_t
Definition KDTreeFlann.h:103
Eigen::MatrixXd data_
Definition KDTreeFlann.h:105
std::unique_ptr< KDTree_t > nanoflann_index_
Definition KDTreeFlann.h:106
KDTreeFlann(const KDTreeFlann &)=delete
Base class for KDTree search parameters.
Definition KDTreeSearchParam.h:16
Class to store featrues for registration.
Definition Feature.h:30
Definition PinholeCameraIntrinsic.cpp:16