toolbox::pcl::base_knn_generic_t< Derived, Element, Metric > Class Template Reference

KNN算法的基类（CRTP模式） / Base class for KNN algorithms (CRTP pattern) More...

#include <base_knn.hpp>

Inheritance diagram for toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >:

Public Types
using	traits_type = knn_traits< Element, Metric >
using	element_type = typename traits_type::element_type
using	metric_type = typename traits_type::metric_type
using	distance_type = typename traits_type::distance_type
using	container_type = std::vector< element_type >
using	container_ptr = std::shared_ptr< container_type >

Public Member Functions
std::size_t	set_input (const container_type &data)
	设置输入数据 / Set input data
std::size_t	set_input (const container_ptr &data)
	设置输入数据（智能指针版本） / Set input data (smart pointer version)
template<typename T = typename Element::value_type, typename = std::enable_if_t<std::is_same_v<Element, point_t<T>>>>
std::size_t	set_input (const toolbox::types::point_cloud_t< T > &cloud)
	设置点云输入数据（仅当Element为point_t时可用） / Set point cloud input data (only available when Element is point_t)
template<typename T = typename Element::value_type, typename = std::enable_if_t<std::is_same_v<Element, point_t<T>>>>
std::size_t	set_input (const std::shared_ptr< toolbox::types::point_cloud_t< T > > &cloud)
	设置点云输入数据（智能指针版本） / Set point cloud input data (smart pointer version)
void	set_metric (const metric_type &metric)
	设置度量方式（编译时版本） / Set metric (compile-time version)
template<typename T = typename Element::value_type>
void	set_metric (std::shared_ptr< toolbox::metrics::IMetric< T > > metric)
	设置度量方式（运行时版本 - shared_ptr） / Set metric (runtime version - shared_ptr)
template<typename T = typename Element::value_type>
void	set_metric (std::unique_ptr< toolbox::metrics::IMetric< T > > metric)
	设置度量方式（运行时版本 - unique_ptr） / Set metric (runtime version - unique_ptr)
bool	kneighbors (const element_type &query, std::size_t num_neighbors, std::vector< std::size_t > &indices, std::vector< distance_type > &distances)
	K近邻搜索 / K-nearest neighbors search.
bool	radius_neighbors (const element_type &query, distance_type radius, std::vector< std::size_t > &indices, std::vector< distance_type > &distances)
	半径近邻搜索 / Radius neighbors search
	base_knn_generic_t (const base_knn_generic_t &)=delete
base_knn_generic_t &	operator= (const base_knn_generic_t &)=delete
	base_knn_generic_t (base_knn_generic_t &&)=delete
base_knn_generic_t &	operator= (base_knn_generic_t &&)=delete

Protected Member Functions
	base_knn_generic_t ()=default
	~base_knn_generic_t ()=default

Detailed Description

template<typename Derived, typename Element, typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>
class toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >

KNN算法的基类（CRTP模式） / Base class for KNN algorithms (CRTP pattern)

这是一个通用的K近邻搜索算法基类，使用CRTP（Curiously Recurring Template Pattern）实现静态多态。 支持任意元素类型和度量方式。 / This is a generic base class for K-nearest neighbor search algorithms, using CRTP (Curiously Recurring Template Pattern) for static polymorphism. Supports arbitrary element types and metrics.

Template Parameters

Derived	派生类类型 / Derived class type
Element	元素类型（如point_t<float>） / Element type (e.g., point_t<float>)
Metric	度量类型（默认为L2度量） / Metric type (default is L2 metric)

// 使用示例 / Usage example
using MyKNN = bfknn_generic_t<point_t<float>, L2Metric<float>>;
MyKNN knn;
 
// 设置输入数据 / Set input data
std::vector<point_t<float>> points = {...};
knn.set_input(points);
 
// K近邻搜索 / K-nearest neighbors search
point_t<float> query = {1.0f, 2.0f, 3.0f};
std::vector<std::size_t> indices;
std::vector<float> distances;
knn.kneighbors(query, 5, indices, distances);

// 使用点云数据 / Using point cloud data
point_cloud_t<float> cloud = load_point_cloud();
knn.set_input(cloud);  // 自动使用cloud.points / Automatically uses cloud.points
 
// 半径搜索 / Radius search
float radius = 2.0f;
knn.radius_neighbors(query, radius, indices, distances);

Member Typedef Documentation

container_ptr

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

using toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::container_ptr = std::shared_ptr<container_type>

container_type

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

using toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::container_type = std::vector<element_type>

distance_type

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

using toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::distance_type = typename traits_type::distance_type

element_type

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

using toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::element_type = typename traits_type::element_type

metric_type

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

using toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::metric_type = typename traits_type::metric_type

traits_type

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

using toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::traits_type = knn_traits<Element, Metric>

Constructor & Destructor Documentation

base_knn_generic_t() [1/3]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::base_knn_generic_t ( )

protecteddefault

~base_knn_generic_t()

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::~base_knn_generic_t ( )

protecteddefault

base_knn_generic_t() [2/3]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::base_knn_generic_t ( const base_knn_generic_t< Derived, Element, Metric > &  )

delete

base_knn_generic_t() [3/3]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::base_knn_generic_t ( base_knn_generic_t< Derived, Element, Metric > &&  )

delete

Member Function Documentation

kneighbors()

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

bool toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::kneighbors ( const element_type &  query, std::size_t  num_neighbors, std::vector< std::size_t > &  indices, std::vector< distance_type > &  distances  )

inline

K近邻搜索 / K-nearest neighbors search.

Parameters

query	查询点 / Query point
num_neighbors	要查找的最近邻数量 / Number of nearest neighbors to find
indices	[out] 找到的最近邻索引 / Indices of found nearest neighbors
distances	[out] 对应的距离 / Corresponding distances

Returns

是否成功 / Whether successful

// 示例：查找5个最近邻 / Example: Find 5 nearest neighbors
point_t<float> query = {1.0f, 2.0f, 3.0f};
std::vector<std::size_t> indices;
std::vector<float> distances;
 
if (knn.kneighbors(query, 5, indices, distances)) {
    for (size_t i = 0; i < indices.size(); ++i) {
        std::cout << "邻居 / Neighbor " << i << ": "
                  << "索引 / index = " << indices[i] 
                  << ", 距离 / distance = " << distances[i] << std::endl;
    }
}

operator=() [1/2]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

base_knn_generic_t & toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::operator= ( base_knn_generic_t< Derived, Element, Metric > &&  )

delete

operator=() [2/2]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

base_knn_generic_t & toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::operator= ( const base_knn_generic_t< Derived, Element, Metric > &  )

delete

radius_neighbors()

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

bool toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::radius_neighbors ( const element_type &  query, distance_type  radius, std::vector< std::size_t > &  indices, std::vector< distance_type > &  distances  )

inline

半径近邻搜索 / Radius neighbors search

Parameters

query	查询点 / Query point
radius	搜索半径 / Search radius
indices	[out] 半径内所有点的索引 / Indices of all points within radius
distances	[out] 对应的距离 / Corresponding distances

Returns

是否成功 / Whether successful

// 示例：查找半径2.0内的所有点 / Example: Find all points within radius 2.0
point_t<float> query = {1.0f, 2.0f, 3.0f};
std::vector<std::size_t> indices;
std::vector<float> distances;
 
if (knn.radius_neighbors(query, 2.0f, indices, distances)) {
    std::cout << "找到 / Found " << indices.size() 
              << " 个点在半径内 / points within radius" << std::endl;
}

set_input() [1/4]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

std::size_t toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_input ( const container_ptr &  data )

inline

设置输入数据（智能指针版本） / Set input data (smart pointer version)

Parameters

data	输入数据容器的智能指针 / Smart pointer to input data container

Returns

数据点的数量 / Number of data points

set_input() [2/4]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

std::size_t toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_input ( const container_type &  data )

inline

设置输入数据 / Set input data

Parameters

data	输入数据容器 / Input data container

Returns

数据点的数量 / Number of data points

set_input() [3/4]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

template<typename T = typename Element::value_type, typename = std::enable_if_t<std::is_same_v<Element, point_t<T>>>>

std::size_t toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_input ( const std::shared_ptr< toolbox::types::point_cloud_t< T > > &  cloud )

inline

设置点云输入数据（智能指针版本） / Set point cloud input data (smart pointer version)

Template Parameters

T	点云数据类型 / Point cloud data type

Parameters

cloud

输入点云的智能指针 / Smart pointer to input point cloud

Returns

点的数量 / Number of points

set_input() [4/4]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

template<typename T = typename Element::value_type, typename = std::enable_if_t<std::is_same_v<Element, point_t<T>>>>

std::size_t toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_input ( const toolbox::types::point_cloud_t< T > &  cloud )

inline

设置点云输入数据（仅当Element为point_t时可用） / Set point cloud input data (only available when Element is point_t)

Template Parameters

T	点云数据类型 / Point cloud data type

Parameters

cloud

输入点云 / Input point cloud

Returns

点的数量 / Number of points

set_metric() [1/3]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

void toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_metric ( const metric_type &  metric )

inline

设置度量方式（编译时版本） / Set metric (compile-time version)

Parameters

metric

度量对象 / Metric object

set_metric() [2/3]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

template<typename T = typename Element::value_type>

void toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_metric ( std::shared_ptr< toolbox::metrics::IMetric< T > >  metric )

inline

设置度量方式（运行时版本 - shared_ptr） / Set metric (runtime version - shared_ptr)

Template Parameters

T	数据类型 / Data type

Parameters

metric

度量接口的智能指针 / Smart pointer to metric interface

set_metric() [3/3]

template<typename Derived , typename Element , typename Metric = toolbox::metrics::L2Metric<typename Element::value_type>>

template<typename T = typename Element::value_type>

void toolbox::pcl::base_knn_generic_t< Derived, Element, Metric >::set_metric ( std::unique_ptr< toolbox::metrics::IMetric< T > >  metric )

inline

设置度量方式（运行时版本 - unique_ptr） / Set metric (runtime version - unique_ptr)

Template Parameters

T	数据类型 / Data type

Parameters

metric

度量接口的独占指针 / Unique pointer to metric interface

---

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

• src/include/cpp-toolbox/pcl/knn/base_knn.hpp