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¶