OpenCL support for nearest neighbour search
More...

#include <nabo_private.h>

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

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::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
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 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. More...

virtual	~NearestNeighbourSearch ()
	virtual destructor

Protected Member Functions
	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. 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
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::OpenCLSearch< T, CloudType >

OpenCL support for nearest neighbour search

Member Function Documentation

◆ initOpenCL()

template<typename T , typename CloudType >

void Nabo::OpenCLSearch< T, CloudType >::initOpenCL	(	const char *	clFileName,
		const char *	kernelName,
		const std::string &	additionalDefines = `""`
	)

protected

Initialize CL support.

Parameters

clFileName	name of file containing CL code
kernelName	name of the CL kernel function
additionalDefines	additional CL code to pass to compiler

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Function Documentation

◆ initOpenCL()

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