mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-03 16:47:47 +08:00
273 lines
36 KiB
HTML
273 lines
36 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>RTAB-Map: corelib/include/rtabmap/core/FlannIndex.h Source File</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
|
<script type="text/javascript" src="../versions.js"></script>
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr id="projectrow">
|
|
<td id="projectalign">
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.13</span>
|
|
</div>
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */
|
|
</script>
|
|
<div id="main-nav"></div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function() { init_codefold(0); });
|
|
/* @license-end */
|
|
</script>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<div id="MSearchResults">
|
|
<div class="SRPage">
|
|
<div id="SRIndex">
|
|
<div id="SRResults"></div>
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="headertitle"><div class="title">FlannIndex.h</div></div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
|
|
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
|
|
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
|
|
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
|
|
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
|
|
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
|
|
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
|
|
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
|
|
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
|
|
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
|
|
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
|
|
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
|
|
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
|
|
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
|
|
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
|
|
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
|
|
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
|
|
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
|
|
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
|
|
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
|
|
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
|
|
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
|
|
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
|
|
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
|
|
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
|
|
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
|
|
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
|
|
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef CORELIB_SRC_FLANNINDEX_H_</span></div>
|
|
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define CORELIB_SRC_FLANNINDEX_H_</span></div>
|
|
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
|
|
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
|
|
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <list></span></div>
|
|
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <opencv2/opencv.hpp></span></div>
|
|
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
|
|
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
|
|
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
|
|
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">class </span>NanoFlannIndex;</div>
|
|
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
|
|
<div class="foldopen" id="foldopen00055" data-start="{" data-end="};">
|
|
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html"> 55</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a></div>
|
|
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span>{</div>
|
|
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="keyword">public</span>:</div>
|
|
<div class="foldopen" id="foldopen00075" data-start="{" data-end="};">
|
|
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010"> 75</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a></div>
|
|
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
|
|
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010ad91d542360e077f1f119dca41dcef818"> 77</a></span> FLANN_INDEX_LINEAR = 0, </div>
|
|
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4e3f4b810ce249000373d41046ab273d"> 78</a></span> FLANN_INDEX_KDTREE = 1, </div>
|
|
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a519b6d4008708066a792ac2929607081"> 79</a></span> FLANN_INDEX_KDTREE_SINGLE = 4, </div>
|
|
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a9f4f22cd092844bde159ebc0b004a5c8"> 80</a></span> FLANN_INDEX_LSH = 6, </div>
|
|
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
|
|
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010a4132d1ad7d7b3717b83f71aa60fa39e3"> 86</a></span> NANOFLANN_INDEX_KDTREE_SINGLE = 100,</div>
|
|
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> };</div>
|
|
</div>
|
|
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
|
|
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">FlannIndex</a>();</div>
|
|
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1FlannIndex.html">~FlannIndex</a>();</div>
|
|
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
|
|
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4"> 93</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">release</a>();</div>
|
|
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
|
|
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23"> 106</a></span> std::vector<unsigned char> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">serializeIndex</a>(<span class="keywordtype">bool</span> computeChecksum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
|
|
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a"> 109</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">indexedFeatures</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
|
|
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f"> 115</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">memoryUsed</a>() <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
|
|
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521"> 128</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">buildIndex</a>(</div>
|
|
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm,</div>
|
|
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">const</span> cv::Mat & features,</div>
|
|
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f);</div>
|
|
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
|
|
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b"> 148</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">loadIndex</a>(</div>
|
|
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> std::vector<unsigned char> & indexData,</div>
|
|
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm,</div>
|
|
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> cv::Mat & features,</div>
|
|
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f,</div>
|
|
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> std::string * errorMsg = NULL);</div>
|
|
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e"> 156</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e">loadIndex</a>(</div>
|
|
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * indexData,</div>
|
|
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">size_t</span> indexDataSize,</div>
|
|
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm,</div>
|
|
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> cv::Mat & features,</div>
|
|
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">bool</span> useDistanceL1 = <span class="keyword">false</span>,</div>
|
|
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> rebalancingFactor = 2.0f,</div>
|
|
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> std::string * errorMsg = NULL);</div>
|
|
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> </div>
|
|
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23"> 166</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">isBuilt</a>();</div>
|
|
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
|
|
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69"> 169</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">featuresType</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> featuresType_;}</div>
|
|
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3"> 171</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">featuresDim</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> featuresDim_;}</div>
|
|
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
|
|
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68"> 180</a></span> std::vector<unsigned int> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">addPoints</a>(<span class="keyword">const</span> cv::Mat & features);</div>
|
|
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
|
|
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0"> 189</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">removePoint</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index);</div>
|
|
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> </div>
|
|
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928"> 206</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928">knnSearch</a>(</div>
|
|
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keyword">const</span> cv::Mat & query,</div>
|
|
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> cv::Mat & indices,</div>
|
|
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> cv::Mat & dists,</div>
|
|
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">int</span> knn,</div>
|
|
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">int</span> checks = 32,</div>
|
|
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> eps = 0.0,</div>
|
|
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>,</div>
|
|
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">int</span> cores = 1) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df"> 231</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df">radiusSearch</a>(</div>
|
|
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> cv::Mat & query,</div>
|
|
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> std::vector<std::vector<size_t> > & indices,</div>
|
|
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> std::vector<std::vector<float> > & dists,</div>
|
|
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">float</span> radius,</div>
|
|
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">int</span> maxNeighbors = 0,</div>
|
|
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">int</span> checks = 32,</div>
|
|
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">float</span> eps = 0.0,</div>
|
|
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">bool</span> sorted = <span class="keyword">true</span>,</div>
|
|
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">int</span> cores = 1) <span class="keyword">const</span>;</div>
|
|
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> </div>
|
|
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span><span class="keyword">private</span>:</div>
|
|
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">void</span> * index_; <span class="comment">// rtflann backend</span></div>
|
|
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> NanoFlannIndex * nanoIndex_; <span class="comment">// nanoflann backend, only one of the two is set</span></div>
|
|
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextIndex_;</div>
|
|
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">int</span> featuresType_;</div>
|
|
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">int</span> featuresDim_;</div>
|
|
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">bool</span> useDistanceL1_; <span class="comment">// true=EUCLEDIAN_L2 false=MANHATTAN_L1</span></div>
|
|
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">float</span> rebalancingFactor_;</div>
|
|
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <a class="code hl_enumeration" href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">flann_algorithm_t</a> algorithm_;</div>
|
|
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> </div>
|
|
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="comment">// keep feature in memory until the tree is rebuilt</span></div>
|
|
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="comment">// (in case the word is deleted when removed from the VWDictionary)</span></div>
|
|
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> std::map<int, cv::Mat> addedDescriptors_;</div>
|
|
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> std::list<int> removedIndexes_;</div>
|
|
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span>};</div>
|
|
</div>
|
|
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> </div>
|
|
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
|
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
|
|
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_SRC_FLANNINDEX_H_ */</span><span class="preprocessor"></span></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdoc">Nearest neighbor index over a set of features.</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00055">FlannIndex.h:56</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a028eac4aeef64d62b9edea1f7b38a71e"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a028eac4aeef64d62b9edea1f7b38a71e">rtabmap::FlannIndex::loadIndex</a></div><div class="ttdeci">bool loadIndex(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</div><div class="ttdoc">Load an index from a raw buffer, see the overload above.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a1f2bf8718a75aa0b5dded8c287293c23"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a1f2bf8718a75aa0b5dded8c287293c23">rtabmap::FlannIndex::serializeIndex</a></div><div class="ttdeci">std::vector< unsigned char > serializeIndex(bool computeChecksum=true) const</div><div class="ttdoc">Serialize the index, to be given back to loadIndex()</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a28052e827934cfbc6a9ce14f8b5714df"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df">rtabmap::FlannIndex::radiusSearch</a></div><div class="ttdeci">void radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const</div><div class="ttdoc">Search the neighbors of each query within a radius.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a4a5c33446a515bd8f0c2f73a1adaeb23"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a4a5c33446a515bd8f0c2f73a1adaeb23">rtabmap::FlannIndex::isBuilt</a></div><div class="ttdeci">bool isBuilt()</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a5a2eed18fe1216142d09c05243e9d06f"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a5a2eed18fe1216142d09c05243e9d06f">rtabmap::FlannIndex::memoryUsed</a></div><div class="ttdeci">size_t memoryUsed() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a6eb4692afb561932aa6a20f7ebdee6c4"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a6eb4692afb561932aa6a20f7ebdee6c4">rtabmap::FlannIndex::release</a></div><div class="ttdeci">void release()</div><div class="ttdoc">Drop the index and everything it holds, back to the state of a new one.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a759817fbddaf8c6bdb04ba0a44e9847a"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a759817fbddaf8c6bdb04ba0a44e9847a">rtabmap::FlannIndex::indexedFeatures</a></div><div class="ttdeci">size_t indexedFeatures() const</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a7d78d049ac4afb9f90fc0705506a6ce0"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0">rtabmap::FlannIndex::removePoint</a></div><div class="ttdeci">void removePoint(unsigned int index)</div><div class="ttdoc">Remove an indexed feature, by the index addPoints() gave for it.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a8191e3ba9cc7a5361443430171691df3"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3">rtabmap::FlannIndex::featuresDim</a></div><div class="ttdeci">int featuresDim() const</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00171">FlannIndex.h:171</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a826b3a33e22f455f04688df9d0d25b0b"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a826b3a33e22f455f04688df9d0d25b0b">rtabmap::FlannIndex::loadIndex</a></div><div class="ttdeci">bool loadIndex(const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)</div><div class="ttdoc">Load an index serialized by serializeIndex(), releasing any previous one.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a88ddfe63de9e9f574ac804ade460f010"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a88ddfe63de9e9f574ac804ade460f010">rtabmap::FlannIndex::flann_algorithm_t</a></div><div class="ttdeci">flann_algorithm_t</div><div class="ttdoc">The index structure built by buildIndex()</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00075">FlannIndex.h:76</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_a8bd8312e92376d6bf2885907f5d93c68"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68">rtabmap::FlannIndex::addPoints</a></div><div class="ttdeci">std::vector< unsigned int > addPoints(const cv::Mat &features)</div><div class="ttdoc">Add features to the index.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_aad2f29314c6b021d1c53217a7a041521"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#aad2f29314c6b021d1c53217a7a041521">rtabmap::FlannIndex::buildIndex</a></div><div class="ttdeci">void buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)</div><div class="ttdoc">Build the index over the given features, releasing any previous one.</div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_ace329768df8b54b935fbe7a8921efe69"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#ace329768df8b54b935fbe7a8921efe69">rtabmap::FlannIndex::featuresType</a></div><div class="ttdeci">int featuresType() const</div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00169">FlannIndex.h:169</a></div></div>
|
|
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html_aee58e859aa067646b4c6ffd63b593928"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928">rtabmap::FlannIndex::knnSearch</a></div><div class="ttdeci">void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const</div><div class="ttdoc">Search the k nearest neighbors of each query.</div></div>
|
|
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
|
|
</div><!-- fragment --></div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><b>FlannIndex.h</b></li>
|
|
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|