Class KDTreeIndexInterface

• Defined in File kd-tree-index-interface.h

Inheritance Relationships

Base Type

• public loop_closure::IndexInterface (Class IndexInterface)

Class Documentation

class loop_closure::KDTreeIndexInterface : public loop_closure::IndexInterface

Public Types

enum [anonymous]

Values:

enumerator kTargetDimensionality

typedef KDTreeIndex<kTargetDimensionality> Index

Public Functions

inline explicit KDTreeIndexInterface(const std::string &projection_matrix_filepath)

inline virtual int GetNumDescriptorsInIndex() const

inline virtual void Clear()

inline virtual void AddDescriptors(const Eigen::MatrixXf &descriptors)

template<typename DerivedQuery, typename DerivedIndices, typename DerivedDistances>
inline void GetNNearestNeighbors(const Eigen::MatrixBase<DerivedQuery> &query_feature, int num_neighbors, const Eigen::MatrixBase<DerivedIndices> &indices_const, const Eigen::MatrixBase<DerivedDistances> &distances_const) const

inline virtual void GetNNearestNeighborsForFeatures(const Eigen::MatrixXf &query_features, int num_neighbors, Eigen::MatrixXi *indices, Eigen::MatrixXf *distances) const

inline virtual void ProjectDescriptors(const DescriptorContainer &descriptors, Eigen::MatrixXf *projected_descriptors) const

inline virtual void ProjectDescriptors(const std::vector<aslam::common::FeatureDescriptorConstRef> &descriptors, Eigen::MatrixXf *projected_descriptors) const