#include <nanoflann.hpp>

Public Types
using	ElementType = typename Distance::ElementType

using	DistanceType = typename Distance::DistanceType

using	Offset

using	Size

using	Dimension

Public Member Functions
const std::vector< index_container_t > &	getAllIndices () const

	KDTreeSingleIndexDynamicAdaptor (const int dimensionality, const DatasetAdaptor &inputData, const KDTreeSingleIndexAdaptorParams &params=KDTreeSingleIndexAdaptorParams(), const size_t maximumPointCount=1000000000U)

	KDTreeSingleIndexDynamicAdaptor (const KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType > &)=delete

void	addPoints (IndexType start, IndexType end)

void	removePoint (size_t idx)

template<typename RESULTSET>
bool	findNeighbors (RESULTSET &result, const ElementType *vec, const SearchParameters &searchParams={}) const

Data Fields
Distance	distance_

Protected Types
using	index_container_t

Protected Attributes
Size	leaf_max_size_

Size	treeCount_

Size	pointCount_

const DatasetAdaptor &	dataset_
	The source of our data.

std::vector< int >	treeIndex_

std::unordered_set< int >	removedPoints_

KDTreeSingleIndexAdaptorParams	index_params_

Dimension	dim_
	Dimensionality of each data point.

std::vector< index_container_t >	index_

Private Member Functions
int	First0Bit (IndexType num)

void	init ()

Detailed Description

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>
class nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >

kd-tree dynaimic index

class to create multiple static index and merge their results to behave as single dynamic index as proposed in Logarithmic Approach.

Example of usage: examples/dynamic_pointcloud_example.cpp

Template Parameters

DatasetAdaptor	The user-provided adaptor (see comments above).
Distance	The distance metric to use: nanoflann::metric_L1, nanoflann::metric_L2, nanoflann::metric_L2_Simple, etc.
DIM	Dimensionality of data points (e.g. 3 for 3D points)
IndexType	Will be typically size_t or int

Definition at line 2414 of file nanoflann.hpp.

Member Typedef Documentation

◆ Dimension

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

using nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::Dimension

Initial value:

typename KDTreeSingleIndexDynamicAdaptor_<

Distance, DatasetAdaptor, DIM>::Dimension

nanoflann::KDTreeSingleIndexDynamicAdaptor_

Definition nanoflann.hpp:2027

nanoflann::KDTreeSingleIndexDynamicAdaptor::Dimension

typename KDTreeSingleIndexDynamicAdaptor_< Distance, DatasetAdaptor, DIM >::Dimension Dimension

Definition nanoflann.hpp:2424

Definition at line 2424 of file nanoflann.hpp.

◆ DistanceType

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

using nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::DistanceType = typename Distance::DistanceType

Definition at line 2418 of file nanoflann.hpp.

◆ ElementType

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

using nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::ElementType = typename Distance::ElementType

Definition at line 2417 of file nanoflann.hpp.

◆ index_container_t

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

using nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::index_container_t

protected

Initial value:

KDTreeSingleIndexDynamicAdaptor_<

Distance, DatasetAdaptor, DIM, IndexType>

Definition at line 2446 of file nanoflann.hpp.

◆ Offset

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

using nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::Offset

Initial value:

typename KDTreeSingleIndexDynamicAdaptor_<

Distance, DatasetAdaptor, DIM>::Offset

nanoflann::KDTreeSingleIndexDynamicAdaptor::Offset

typename KDTreeSingleIndexDynamicAdaptor_< Distance, DatasetAdaptor, DIM >::Offset Offset

Definition nanoflann.hpp:2420

Definition at line 2420 of file nanoflann.hpp.

◆ Size

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

using nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::Size

Initial value:

typename KDTreeSingleIndexDynamicAdaptor_<

Distance, DatasetAdaptor, DIM>::Size

nanoflann::KDTreeSingleIndexDynamicAdaptor::Size

typename KDTreeSingleIndexDynamicAdaptor_< Distance, DatasetAdaptor, DIM >::Size Size

Definition nanoflann.hpp:2422

Definition at line 2422 of file nanoflann.hpp.

Constructor & Destructor Documentation

◆ KDTreeSingleIndexDynamicAdaptor() [1/2]

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::KDTreeSingleIndexDynamicAdaptor	(	const int	dimensionality,
		const DatasetAdaptor &	inputData,
		const KDTreeSingleIndexAdaptorParams &	params = KDTreeSingleIndexAdaptorParams(),
		const size_t	maximumPointCount = 1000000000U )

inlineexplicit

KDTree constructor

Refer to docs in README.md or online in https://github.com/jlblancoc/nanoflann

The KD-Tree point dimension (the length of each point in the datase, e.g. 3 for 3D points) is determined by means of:

The DIM template parameter if >0 (highest priority)
Otherwise, the dimensionality parameter of this constructor.

Parameters

inputData	Dataset with the input features. Its lifetime must be equal or longer than that of the instance of this class.
params	Basically, the maximum leaf node size

Definition at line 2500 of file nanoflann.hpp.

Referenced by KDTreeSingleIndexDynamicAdaptor().

◆ KDTreeSingleIndexDynamicAdaptor() [2/2]

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::KDTreeSingleIndexDynamicAdaptor ( const KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType > & )

explicitdelete

Deleted copy constructor

Member Function Documentation

◆ addPoints()

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

void nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::addPoints	(	IndexType	start,
		IndexType	end )

inline

Add points to the set, Inserts all points from [start, end]

Definition at line 2524 of file nanoflann.hpp.

Referenced by KDTreeSingleIndexDynamicAdaptor().

◆ findNeighbors()

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

template<typename RESULTSET>

bool nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::findNeighbors	(	RESULTSET &	result,
		const ElementType *	vec,
		const SearchParameters &	searchParams = {} ) const

inline

Find set of nearest neighbors to vec[0:dim-1]. Their indices are stored inside the result object.

Params: result = the result object in which the indices of the nearest-neighbors are stored vec = the vector for which to search the nearest neighbors

Template Parameters

RESULTSET Should be any ResultSet<DistanceType>

Returns: True if the requested neighbors could be found.

See also: knnSearch, radiusSearch

Note: If L2 norms are used, all returned distances are actually squared distances.

Definition at line 2589 of file nanoflann.hpp.

◆ First0Bit()

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

int nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::First0Bit ( IndexType num )

inlineprivate

finds position of least significant unset bit

Definition at line 2460 of file nanoflann.hpp.

Referenced by addPoints().

◆ getAllIndices()

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

const std::vector< index_container_t > & nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::getAllIndices ( ) const

inline

Get a const ref to the internal list of indices; the number of indices is adapted dynamically as the dataset grows in size.

Definition at line 2453 of file nanoflann.hpp.

◆ init()

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

void nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::init ( )

inlineprivate

Creates multiple empty trees to handle dynamic support

Definition at line 2472 of file nanoflann.hpp.

Referenced by KDTreeSingleIndexDynamicAdaptor().

◆ removePoint()

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

void nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::removePoint ( size_t idx )

inline

Remove a point from the set (Lazy Deletion)

Definition at line 2565 of file nanoflann.hpp.

Field Documentation

◆ dataset_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

const DatasetAdaptor& nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::dataset_

protected

The source of our data.

The dataset used by this index

Definition at line 2435 of file nanoflann.hpp.

Referenced by init(), and KDTreeSingleIndexDynamicAdaptor().

◆ dim_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

Dimension nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::dim_

protected

Dimensionality of each data point.

Definition at line 2444 of file nanoflann.hpp.

Referenced by init(), and KDTreeSingleIndexDynamicAdaptor().

◆ distance_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

Distance nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::distance_

Definition at line 2483 of file nanoflann.hpp.

Referenced by KDTreeSingleIndexDynamicAdaptor().

◆ index_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

std::vector<index_container_t> nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::index_

protected

Definition at line 2448 of file nanoflann.hpp.

Referenced by addPoints(), getAllIndices(), and init().

◆ index_params_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

KDTreeSingleIndexAdaptorParams nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::index_params_

protected

Definition at line 2442 of file nanoflann.hpp.

Referenced by init(), and KDTreeSingleIndexDynamicAdaptor().

◆ leaf_max_size_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

Size nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::leaf_max_size_

protected

Definition at line 2428 of file nanoflann.hpp.

Referenced by KDTreeSingleIndexDynamicAdaptor().

◆ pointCount_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

Size nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::pointCount_

protected

Definition at line 2430 of file nanoflann.hpp.

Referenced by addPoints(), KDTreeSingleIndexDynamicAdaptor(), and removePoint().

◆ removedPoints_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

std::unordered_set<int> nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::removedPoints_

protected

Definition at line 2440 of file nanoflann.hpp.

Referenced by addPoints(), and removePoint().

◆ treeCount_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

Size nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::treeCount_

protected

Definition at line 2429 of file nanoflann.hpp.

Referenced by init(), and KDTreeSingleIndexDynamicAdaptor().

◆ treeIndex_

template<typename Distance, class DatasetAdaptor, int32_t DIM = -1, typename IndexType = uint32_t>

std::vector<int> nanoflann::KDTreeSingleIndexDynamicAdaptor< Distance, DatasetAdaptor, DIM, IndexType >::treeIndex_

protected

treeIndex[idx] is the index of tree in which point at idx is stored. treeIndex[idx]=-1 means that point has been removed.

Definition at line 2439 of file nanoflann.hpp.

Referenced by addPoints(), init(), KDTreeSingleIndexDynamicAdaptor(), and removePoint().

The documentation for this class was generated from the following file:

nanoflann.hpp

Public Types

Public Member Functions

Data Fields

Protected Types

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

◆ Dimension

◆ DistanceType

◆ ElementType

◆ index_container_t

◆ Offset

◆ Size

Constructor & Destructor Documentation

◆ KDTreeSingleIndexDynamicAdaptor() [1/2]

◆ KDTreeSingleIndexDynamicAdaptor() [2/2]

Member Function Documentation

◆ addPoints()

◆ findNeighbors()

◆ First0Bit()

◆ getAllIndices()

◆ init()

◆ removePoint()

Field Documentation

◆ dataset_

◆ dim_

◆ distance_

◆ index_

◆ index_params_

◆ leaf_max_size_

◆ pointCount_

◆ removedPoints_

◆ treeCount_

◆ treeIndex_