KDTree, balanced, points in leaves, stack, implicit bounds, balance aspect ratio. More...
#include <nabo_private.h>
Inheritance diagram for Nabo::BruteForceSearchOpenCL< T, CloudType >:
Public Types | |
| typedef NearestNeighbourSearch< T, CloudType >::Vector | Vector |
| typedef NearestNeighbourSearch< T, CloudType >::Matrix | Matrix |
| typedef NearestNeighbourSearch< T, CloudType >::Index | Index |
 Public Types inherited from Nabo::OpenCLSearch< T, CloudType > | |
| typedef NearestNeighbourSearch< T, CloudType >::Vector | Vector |
| typedef NearestNeighbourSearch< T, CloudType >::Matrix | Matrix |
| typedef NearestNeighbourSearch< T, CloudType >::Index | Index |
| typedef NearestNeighbourSearch< T, CloudType >::IndexVector | IndexVector |
| typedef NearestNeighbourSearch< T, CloudType >::IndexMatrix | IndexMatrix |
| Public Types inherited from Nabo::NearestNeighbourSearch< T, Cloud_T > | |
| enum | SearchType { BRUTE_FORCE = 0 , KDTREE_LINEAR_HEAP , KDTREE_TREE_HEAP , KDTREE_CL_PT_IN_NODES , KDTREE_CL_PT_IN_LEAVES , BRUTE_FORCE_CL , SEARCH_TYPE_COUNT } |
| type of search More... | |
| enum | CreationOptionFlags { TOUCH_STATISTICS = 1 } |
| creation option More... | |
| enum | SearchOptionFlags { ALLOW_SELF_MATCH = 1 , SORT_RESULTS = 2 } |
| search option More... | |
| typedef Eigen::Matrix< T, Eigen::Dynamic, 1 > | Vector |
| an Eigen vector of type T, to hold the coordinates of a point | |
| typedef Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > | Matrix |
| a column-major Eigen matrix in which each column is a point; this matrix has dim rows | |
| typedef Cloud_T | CloudType |
| a column-major Eigen matrix in which each column is a point; this matrix has dim rows | |
| typedef int | Index |
| an index to a Vector or a Matrix, for refering to data points | |
| typedef Eigen::Matrix< Index, Eigen::Dynamic, 1 > | IndexVector |
| a vector of indices to data points | |
| typedef Eigen::Matrix< Index, Eigen::Dynamic, Eigen::Dynamic > | IndexMatrix |
| a matrix of indices to data points | |
Public Member Functions | |
| BruteForceSearchOpenCL (const CloudType &cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType) | |
| constructor, calls OpenCLSearch<T, CloudType>(cloud, ...) | |
| Public Member Functions inherited from Nabo::OpenCLSearch< T, CloudType > | |
| virtual unsigned long | knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const |
| virtual unsigned long | knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const |
| Public Member Functions inherited from Nabo::NearestNeighbourSearch< T, Cloud_T > | |
| unsigned long | knn (const Vector &query, IndexVector &indices, Vector &dists2, const Index k=1, const T epsilon=0, const unsigned optionFlags=0, const T maxRadius=std::numeric_limits< T >::infinity()) const |
| Find the k nearest neighbours of query. | |
| virtual unsigned long | knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Index k=1, const T epsilon=0, const unsigned optionFlags=0, const T maxRadius=std::numeric_limits< T >::infinity()) const =0 |
| Find the k nearest neighbours for each point of query. | |
| virtual unsigned long | knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Vector &maxRadii, const Index k=1, const T epsilon=0, const unsigned optionFlags=0) const =0 |
| Find the k nearest neighbours for each point of query. | |
| virtual | ~NearestNeighbourSearch () |
| virtual destructor | |
Additional Inherited Members | |
| Static Public Member Functions inherited from Nabo::NearestNeighbourSearch< T, Cloud_T > | |
| static NearestNeighbourSearch * | create (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const SearchType preferedType=KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters()) |
| Create a nearest-neighbour search. | |
| static NearestNeighbourSearch * | createBruteForce (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0) |
| Create a nearest-neighbour search, using brute-force search, useful for comparison only. | |
| static NearestNeighbourSearch * | createKDTreeLinearHeap (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters()) |
| Create a nearest-neighbour search, using a kd-tree with linear heap, good for small k (~up to 30) | |
| static NearestNeighbourSearch * | createKDTreeTreeHeap (const CloudType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters()) |
| Create a nearest-neighbour search, using a kd-tree with tree heap, good for large k (~from 30) | |
| template<typename WrongMatrixType > | |
| static NearestNeighbourSearch * | create (const WrongMatrixType &cloud, const Index dim=std::numeric_limits< Index >::max(), const SearchType preferedType=KDTREE_LINEAR_HEAP, const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters()) |
| Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. | |
| template<typename WrongMatrixType > | |
| static NearestNeighbourSearch * | createBruteForce (const WrongMatrixType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0) |
| Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. | |
| template<typename WrongMatrixType > | |
| static NearestNeighbourSearch * | createKDTreeLinearHeap (const WrongMatrixType &cloud, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters()) |
| Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. | |
| template<typename WrongMatrixType > | |
| static NearestNeighbourSearch * | createKDTreeTreeHeap (const WrongMatrixType &, const Index dim=std::numeric_limits< Index >::max(), const unsigned creationOptionFlags=0, const Parameters &additionalParameters=Parameters()) |
| Prevent creation of trees with the wrong matrix type. Currently only dynamic size matrices are supported. | |
| Public Attributes inherited from Nabo::NearestNeighbourSearch< T, Cloud_T > | |
| const CloudType & | cloud |
| the reference to the data-point cloud, which must remain valid during the lifetime of the NearestNeighbourSearch object | |
| const Index | dim |
| the dimensionality of the data-point cloud | |
| const unsigned | creationOptionFlags |
| creation options | |
| const Vector | minBound |
| the low bound of the search space (axis-aligned bounding box) | |
| const Vector | maxBound |
| the high bound of the search space (axis-aligned bounding box) | |
| Static Public Attributes inherited from Nabo::NearestNeighbourSearch< T, Cloud_T > | |
| static constexpr Index | InvalidIndex = invalidIndex<Index>() |
| the invalid index | |
| static constexpr T | InvalidValue = invalidValue<T>() |
| the invalid value | |
| Protected Member Functions inherited from Nabo::OpenCLSearch< T, CloudType > | |
| OpenCLSearch (const CloudType &cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType) | |
| constructor, calls NearestNeighbourSearch<T, CloudType>(cloud) | |
| void | initOpenCL (const char *clFileName, const char *kernelName, const std::string &additionalDefines="") |
| Initialize CL support. | |
| Protected Member Functions inherited from Nabo::NearestNeighbourSearch< T, Cloud_T > | |
| NearestNeighbourSearch (const CloudType &cloud, const Index dim, const unsigned creationOptionFlags) | |
| constructor | |
| void | checkSizesKnn (const Matrix &query, const IndexMatrix &indices, const Matrix &dists2, const Index k, const unsigned optionFlags, const Vector *maxRadii=0) const |
| Make sure that the output matrices have the right sizes. Throw an exception otherwise. | |
| Protected Attributes inherited from Nabo::OpenCLSearch< T, CloudType > | |
| const cl_device_type | deviceType |
| the type of device to run CL code on (CL_DEVICE_TYPE_CPU or CL_DEVICE_TYPE_GPU) | |
| cl::Context & | context |
| the CL context | |
| cl::Kernel | knnKernel |
| the kernel to perform knnSearch, mutable because it is stateful, but conceptually const | |
| cl::CommandQueue | queue |
| the command queue | |
| cl::Buffer | cloudCL |
| the buffer for the input data | |
Detailed Description
template<typename T, typename CloudType = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>>
struct Nabo::BruteForceSearchOpenCL< T, CloudType >
struct Nabo::BruteForceSearchOpenCL< T, CloudType >
KDTree, balanced, points in leaves, stack, implicit bounds, balance aspect ratio.
The documentation for this struct was generated from the following files:
