Point Cloud Library (PCL)  1.9.1-dev
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pcl::search::FlannSearch< PointT, FlannDistance > Class Template Reference

search::FlannSearch is a generic FLANN wrapper class for the new search interface. More...

#include <pcl/search/flann_search.h>

+ Inheritance diagram for pcl::search::FlannSearch< PointT, FlannDistance >:

Classes

class  FlannIndexCreator
 Helper class that creates a FLANN index from a given FLANN matrix. More...
 
class  KdTreeIndexCreator
 Creates a FLANN KdTreeSingleIndex from the given input data. More...
 
class  KdTreeMultiIndexCreator
 Creates a FLANN KdTreeIndex of multiple randomized trees from the given input data, suitable for feature matching. More...
 
class  KMeansIndexCreator
 Creates a FLANN KdTreeSingleIndex from the given input data. More...
 

Public Types

typedef boost::shared_ptr< FlannSearch< PointT, FlannDistance > > Ptr
 
typedef boost::shared_ptr< const FlannSearch< PointT, FlannDistance > > ConstPtr
 
typedef Search< PointT >::PointCloud PointCloud
 
typedef Search< PointT >::PointCloudConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< std::vector< int > > IndicesPtr
 
typedef boost::shared_ptr< const std::vector< int > > IndicesConstPtr
 
typedef boost::shared_ptr< flann::Matrix< float > > MatrixPtr
 
typedef boost::shared_ptr< const flann::Matrix< float > > MatrixConstPtr
 
typedef flann::NNIndex< FlannDistance > Index
 
typedef boost::shared_ptr< flann::NNIndex< FlannDistance > > IndexPtr
 
typedef pcl::PointRepresentation< PointTPointRepresentation
 
typedef boost::shared_ptr< PointRepresentationPointRepresentationPtr
 
typedef boost::shared_ptr< const PointRepresentationPointRepresentationConstPtr
 
typedef boost::shared_ptr< FlannIndexCreatorFlannIndexCreatorPtr
 

Public Member Functions

 FlannSearch (bool sorted=true, FlannIndexCreatorPtr creator=FlannIndexCreatorPtr(new KdTreeIndexCreator()))
 
virtual ~FlannSearch ()
 Destructor for FlannSearch. More...
 
void setEpsilon (double eps)
 Set the search epsilon precision (error bound) for nearest neighbors searches. More...
 
double getEpsilon ()
 Get the search epsilon precision (error bound) for nearest neighbors searches. More...
 
void setChecks (int checks)
 Set the number of checks to perform during approximate searches in multiple randomized trees. More...
 
int getChecks ()
 Get the number of checks to perform during approximate searches in multiple randomized trees. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices=IndicesConstPtr())
 Provide a pointer to the input dataset. More...
 
int nearestKSearch (const PointT &point, int k, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances) const
 Search for the k-nearest neighbors for the given query point. More...
 
virtual void nearestKSearch (const PointCloud &cloud, const std::vector< int > &indices, int k, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances) const
 Search for the k-nearest neighbors for the given query point. More...
 
int radiusSearch (const PointT &point, double radius, std::vector< int > &k_indices, std::vector< float > &k_sqr_distances, unsigned int max_nn=0) const
 Search for all the nearest neighbors of the query point in a given radius. More...
 
virtual void radiusSearch (const PointCloud &cloud, const std::vector< int > &indices, double radius, std::vector< std::vector< int > > &k_indices, std::vector< std::vector< float > > &k_sqr_distances, unsigned int max_nn=0) const
 Search for the k-nearest neighbors for the given query point. More...
 
void setPointRepresentation (const PointRepresentationConstPtr &point_representation)
 Provide a pointer to the point representation to use to convert points into k-D vectors. More...
 
PointRepresentationConstPtr const getPointRepresentation ()
 Get a pointer to the point representation used when converting points into k-D vectors. More...
 

Protected Member Functions

void convertInputToFlannMatrix ()
 converts the input data to a format usable by FLANN More...
 

Protected Attributes

IndexPtr index_
 The FLANN index. More...
 
FlannIndexCreatorPtr creator_
 The index creator, used to (re-) create the index when the search data is passed. More...
 
MatrixPtr input_flann_
 Input data in FLANN format. More...
 
float eps_
 Epsilon for approximate NN search. More...
 
int checks_
 Number of checks to perform for approximate NN search using the multiple randomized tree index. More...
 
bool input_copied_for_flann_
 
PointRepresentationConstPtr point_representation_
 
int dim_
 
std::vector< int > index_mapping_
 
bool identity_mapping_
 

Detailed Description

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
class pcl::search::FlannSearch< PointT, FlannDistance >

search::FlannSearch is a generic FLANN wrapper class for the new search interface.

It is able to wrap any FLANN index type, e.g. the kd tree as well as indices for high-dimensional searches and intended as a more powerful and cleaner successor to KdTreeFlann.

By default, this class creates a single kd tree for indexing the input data. However, for high dimensions (> 10), it is often better to use the multiple randomized kd tree index provided by FLANN in combination with the flann::L2 distance functor. During search in this type of index, the number of checks to perform before terminating the search can be controlled. Here is a code example if a high-dimensional 2-NN search:

// Feature and distance type
typedef SHOT352 FeatureT;
typedef flann::L2<float> DistanceT;
// Search and index types
typedef search::FlannSearch<FeatureT, DistanceT> SearchT;
typedef typename SearchT::FlannIndexCreatorPtr CreatorPtrT;
typedef typename SearchT::KdTreeMultiIndexCreator IndexT;
typedef typename SearchT::PointRepresentationPtr RepresentationPtrT;
// Features
// Fill query and target with calculated features...
// Instantiate search object with 4 randomized trees and 256 checks
SearchT search (true, CreatorPtrT (new IndexT (4)));
search.setPointRepresentation (RepresentationPtrT (new DefaultFeatureRepresentation<FeatureT>));
search.setChecks (256);
search.setInputCloud (target);
// Do search
std::vector<std::vector<int> > k_indices;
std::vector<std::vector<float> > k_sqr_distances;
search.nearestKSearch (*query, std::vector<int> (), 2, k_indices, k_sqr_distances);
Author
Andreas Muetzel
Anders Glent Buch (multiple randomized kd tree interface)

Definition at line 100 of file flann_search.h.

Member Typedef Documentation

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<const FlannSearch<PointT, FlannDistance> > pcl::search::FlannSearch< PointT, FlannDistance >::ConstPtr

Definition at line 108 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<FlannIndexCreator> pcl::search::FlannSearch< PointT, FlannDistance >::FlannIndexCreatorPtr

Definition at line 144 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef flann::NNIndex< FlannDistance > pcl::search::FlannSearch< PointT, FlannDistance >::Index

Definition at line 119 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<flann::NNIndex <FlannDistance > > pcl::search::FlannSearch< PointT, FlannDistance >::IndexPtr

Definition at line 120 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<const std::vector<int> > pcl::search::FlannSearch< PointT, FlannDistance >::IndicesConstPtr

Definition at line 114 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<std::vector<int> > pcl::search::FlannSearch< PointT, FlannDistance >::IndicesPtr

Definition at line 113 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<const flann::Matrix <float> > pcl::search::FlannSearch< PointT, FlannDistance >::MatrixConstPtr

Definition at line 117 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<flann::Matrix <float> > pcl::search::FlannSearch< PointT, FlannDistance >::MatrixPtr

Definition at line 116 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef Search<PointT>::PointCloud pcl::search::FlannSearch< PointT, FlannDistance >::PointCloud

Definition at line 110 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef Search<PointT>::PointCloudConstPtr pcl::search::FlannSearch< PointT, FlannDistance >::PointCloudConstPtr

Definition at line 111 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef pcl::PointRepresentation<PointT> pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentation

Definition at line 122 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<const PointRepresentation> pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentationConstPtr

Definition at line 124 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<PointRepresentation> pcl::search::FlannSearch< PointT, FlannDistance >::PointRepresentationPtr

Definition at line 123 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
typedef boost::shared_ptr<FlannSearch<PointT, FlannDistance> > pcl::search::FlannSearch< PointT, FlannDistance >::Ptr

Definition at line 107 of file flann_search.h.

Constructor & Destructor Documentation

template<typename PointT , typename FlannDistance >
pcl::search::FlannSearch< PointT, FlannDistance >::FlannSearch ( bool  sorted = true,
FlannIndexCreatorPtr  creator = FlannIndexCreatorPtr (new KdTreeIndexCreator ()) 
)
template<typename PointT , typename FlannDistance >
pcl::search::FlannSearch< PointT, FlannDistance >::~FlannSearch ( )
virtual

Member Function Documentation

template<typename PointT , typename FlannDistance >
void pcl::search::FlannSearch< PointT, FlannDistance >::convertInputToFlannMatrix ( )
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
int pcl::search::FlannSearch< PointT, FlannDistance >::getChecks ( )
inline

Get the number of checks to perform during approximate searches in multiple randomized trees.

Definition at line 251 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
double pcl::search::FlannSearch< PointT, FlannDistance >::getEpsilon ( )
inline

Get the search epsilon precision (error bound) for nearest neighbors searches.

Definition at line 235 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
PointRepresentationConstPtr const pcl::search::FlannSearch< PointT, FlannDistance >::getPointRepresentation ( )
inline

Get a pointer to the point representation used when converting points into k-D vectors.

Definition at line 327 of file flann_search.h.

template<typename PointT, typename FlannDistance >
int pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch ( const PointT point,
int  k,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances 
) const
virtual

Search for the k-nearest neighbors for the given query point.

Parameters
[in]pointthe given query point
[in]kthe number of neighbors to search for
[out]k_indicesthe resultant indices of the neighboring points (must be resized to k a priori!)
[out]k_sqr_distancesthe resultant squared distances to the neighboring points (must be resized to k a priori!)
Returns
number of neighbors found

Implements pcl::search::Search< PointT >.

Definition at line 100 of file flann_search.hpp.

References pcl::search::FlannSearch< PointT, FlannDistance >::checks_, pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, and pcl::search::Search< PointT >::sorted_results_.

template<typename PointT, typename FlannDistance >
void pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch ( const PointCloud cloud,
const std::vector< int > &  indices,
int  k,
std::vector< std::vector< int > > &  k_indices,
std::vector< std::vector< float > > &  k_sqr_distances 
) const
virtual

Search for the k-nearest neighbors for the given query point.

Parameters
[in]cloudthe point cloud data
[in]indicesa vector of point cloud indices to query for nearest neighbors
[in]kthe number of neighbors to search for
[out]k_indicesthe resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]k_sqr_distancesthe resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i

Definition at line 142 of file flann_search.hpp.

References pcl::search::FlannSearch< PointT, FlannDistance >::checks_, pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::PointCloud< PointT >::is_dense, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, pcl::PointCloud< PointT >::size(), and pcl::search::Search< PointT >::sorted_results_.

template<typename PointT, typename FlannDistance >
int pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch ( const PointT point,
double  radius,
std::vector< int > &  k_indices,
std::vector< float > &  k_sqr_distances,
unsigned int  max_nn = 0 
) const
virtual

Search for all the nearest neighbors of the query point in a given radius.

Parameters
[in]pointthe given query point
[in]radiusthe radius of the sphere bounding all of p_q's neighbors
[out]k_indicesthe resultant indices of the neighboring points
[out]k_sqr_distancesthe resultant squared distances to the neighboring points
[in]max_nnif given, bounds the maximum returned neighbors to this value. If max_nn is set to 0 or to a number higher than the number of points in the input cloud, all neighbors in radius will be returned.
Returns
number of neighbors found in radius

Implements pcl::search::Search< PointT >.

Definition at line 230 of file flann_search.hpp.

References pcl::search::FlannSearch< PointT, FlannDistance >::checks_, pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, and pcl::search::Search< PointT >::sorted_results_.

template<typename PointT, typename FlannDistance >
void pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch ( const PointCloud cloud,
const std::vector< int > &  indices,
double  radius,
std::vector< std::vector< int > > &  k_indices,
std::vector< std::vector< float > > &  k_sqr_distances,
unsigned int  max_nn = 0 
) const
virtual

Search for the k-nearest neighbors for the given query point.

Parameters
[in]cloudthe point cloud data
[in]indicesa vector of point cloud indices to query for nearest neighbors
[in]radiusthe radius of the sphere bounding all of p_q's neighbors
[out]k_indicesthe resultant indices of the neighboring points, k_indices[i] corresponds to the neighbors of the query point i
[out]k_sqr_distancesthe resultant squared distances to the neighboring points, k_sqr_distances[i] corresponds to the neighbors of the query point i
[in]max_nnif given, bounds the maximum returned neighbors to this value

Definition at line 273 of file flann_search.hpp.

References pcl::search::FlannSearch< PointT, FlannDistance >::checks_, pcl::search::FlannSearch< PointT, FlannDistance >::dim_, pcl::search::FlannSearch< PointT, FlannDistance >::eps_, pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_, pcl::search::FlannSearch< PointT, FlannDistance >::index_, pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_, pcl::PointCloud< PointT >::is_dense, pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_, pcl::PointCloud< PointT >::size(), and pcl::search::Search< PointT >::sorted_results_.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
void pcl::search::FlannSearch< PointT, FlannDistance >::setChecks ( int  checks)
inline

Set the number of checks to perform during approximate searches in multiple randomized trees.

Parameters
[in]checksnumber of checks to perform during approximate searches in multiple randomized trees.

Definition at line 244 of file flann_search.h.

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
void pcl::search::FlannSearch< PointT, FlannDistance >::setEpsilon ( double  eps)
inline

Set the search epsilon precision (error bound) for nearest neighbors searches.

Parameters
[in]epsprecision (error bound) for nearest neighbors searches

Definition at line 228 of file flann_search.h.

template<typename PointT , typename FlannDistance >
void pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud ( const PointCloudConstPtr cloud,
const IndicesConstPtr indices = IndicesConstPtr () 
)
virtual
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
void pcl::search::FlannSearch< PointT, FlannDistance >::setPointRepresentation ( const PointRepresentationConstPtr point_representation)
inline

Provide a pointer to the point representation to use to convert points into k-D vectors.

Parameters
[in]point_representationthe const boost shared pointer to a PointRepresentation

Definition at line 317 of file flann_search.h.

Member Data Documentation

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
int pcl::search::FlannSearch< PointT, FlannDistance >::checks_
protected

Number of checks to perform for approximate NN search using the multiple randomized tree index.

Definition at line 356 of file flann_search.h.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::nearestKSearch(), and pcl::search::FlannSearch< PointT, FlannDistance >::radiusSearch().

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
FlannIndexCreatorPtr pcl::search::FlannSearch< PointT, FlannDistance >::creator_
protected

The index creator, used to (re-) create the index when the search data is passed.

Definition at line 344 of file flann_search.h.

Referenced by pcl::search::FlannSearch< PointT, FlannDistance >::setInputCloud().

template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
int pcl::search::FlannSearch< PointT, FlannDistance >::dim_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
float pcl::search::FlannSearch< PointT, FlannDistance >::eps_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
bool pcl::search::FlannSearch< PointT, FlannDistance >::identity_mapping_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
IndexPtr pcl::search::FlannSearch< PointT, FlannDistance >::index_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
std::vector<int> pcl::search::FlannSearch< PointT, FlannDistance >::index_mapping_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
bool pcl::search::FlannSearch< PointT, FlannDistance >::input_copied_for_flann_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
MatrixPtr pcl::search::FlannSearch< PointT, FlannDistance >::input_flann_
protected
template<typename PointT, typename FlannDistance = flann::L2_Simple <float>>
PointRepresentationConstPtr pcl::search::FlannSearch< PointT, FlannDistance >::point_representation_
protected

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