KDTree, balanced, points in nodes, stack, implicit bounds, balance aspect ratio. More...

#include <nabo_private.h>

Inheritance diagram for Nabo::KDTreeBalancedPtInNodesStackOpenCL< T, CloudType >:

Classes
struct	CompareDim
	Functor to compare point values on a given dimension. More...

struct	Node
	Tree node for CL. More...

Public Types
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::OpenCLSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
typedef NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >::Vector	Vector

typedef NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >::Matrix	Matrix

typedef NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >::Index	Index

typedef NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >::IndexVector	IndexVector

typedef NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >::IndexMatrix	IndexMatrix

Public Types inherited from Nabo::NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
enum	SearchType
	type of search

enum	CreationOptionFlags
	creation option

enum	SearchOptionFlags
	search option

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 Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	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
	KDTreeBalancedPtInNodesStackOpenCL (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, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
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, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
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. More...

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. More...

virtual	~NearestNeighbourSearch ()
	virtual destructor

Protected Types
typedef Index	BuildPoint
	a point during kd-tree construction is just its index

typedef std::vector< BuildPoint >	BuildPoints
	points during kd-tree construction

typedef BuildPoints::iterator	BuildPointsIt
	iterator to points during kd-tree construction

typedef BuildPoints::const_iterator	BuildPointsCstIt
	const-iterator to points during kd-tree construction

typedef std::vector< Node >	Nodes
	dense vector of search nodes

Protected Member Functions
size_t	childLeft (size_t pos) const
	Return the left child of pos.

size_t	childRight (size_t pos) const
	Return the right child of pos.

size_t	parent (size_t pos) const
	Return the parent of pos.

size_t	getTreeDepth (size_t size) const
	Return the max depth of a tree of a given size.

size_t	getTreeSize (size_t size) const
	Return the storage size of tree of a given size.

void	buildNodes (const BuildPointsIt first, const BuildPointsIt last, const size_t pos, const Vector minValues, const Vector maxValues)
	Recurse to build nodes.

Protected Member Functions inherited from Nabo::OpenCLSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
	OpenCLSearch (const Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > &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. More...

Protected Member Functions inherited from Nabo::NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
	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. More...

Protected Attributes
Nodes	nodes
	search nodes

cl::Buffer	nodesCL
	CL buffer for search nodes.

Protected Attributes inherited from Nabo::OpenCLSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
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

Additional Inherited Members
Static Public Member Functions inherited from Nabo::NearestNeighbourSearch< T, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
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. More...

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.

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. More...

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.

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) More...

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.

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) More...

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, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
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, Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > >
static constexpr Index	InvalidIndex
	the invalid index

static constexpr T	InvalidValue
	the invalid value

Detailed Description

template<typename T, typename CloudType = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>>
struct Nabo::KDTreeBalancedPtInNodesStackOpenCL< T, CloudType >

KDTree, balanced, points in nodes, stack, implicit bounds, balance aspect ratio.

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

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename T, typename CloudType = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>> struct Nabo::KDTreeBalancedPtInNodesStackOpenCL< T, CloudType >

template<typename T, typename CloudType = Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic>>
struct Nabo::KDTreeBalancedPtInNodesStackOpenCL< T, CloudType >