Template Class KDTreeSearchAccelerator

Class Documentation

template<class Feature, class Distance, class FeatureAllocator>
class loop_closure::KDTreeSearchAccelerator

Public Functions

inline KDTreeSearchAccelerator(const std::shared_ptr<std::vector<Feature, FeatureAllocator>> &database_features, const Distance&)
inline unsigned int FindIndexOfClosestFeature(const Feature &query_feature) const
inline void GetNNearestNeighbors(const Feature &query_feature, int num_neighbors, std::vector<int> *const _indices, std::vector<typename Distance::result_type> *const _distances) const
inline void GetNNearestNeighbors(const Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic> &features, int num_nearest_neighbors, std::vector<int> *const _indices) const