Nabo::OpenCLSearch< T > Struct Template Reference
[private implementation]

OpenCL support for nearest neighbour search. More...

#include <nabo_private.h>

Inheritance diagram for Nabo::OpenCLSearch< T >:

List of all members.

Public Types
typedef NearestNeighbourSearch < T >::Vector	Vector
	an Eigen vector of type T, to hold the coordinates of a point
typedef NearestNeighbourSearch < T >::Matrix	Matrix
	a column-major Eigen matrix in which each column is a point; this matrix has dim rows
typedef NearestNeighbourSearch < T >::Index	Index
	an index to a Vector or a Matrix, for refering to data points
typedef NearestNeighbourSearch < T >::IndexVector	IndexVector
	a vector of indices to data points
typedef NearestNeighbourSearch < T >::IndexMatrix	IndexMatrix
	a matrix of indices to data points
Protected Attributes
const cl_device_type	deviceType
	the type of device to run CL code on (CL_DEVICE_TYPE_CPU or CL_DEVICE_TYPE_GPU)
cl::Context &	context
	the CL context
cl::Kernel	knnKernel
	the kernel to perform knnSearch, mutable because it is stateful, but conceptually const
cl::CommandQueue	queue
	the command queue
cl::Buffer	cloudCL
	the buffer for the input data
	OpenCLSearch (const Matrix &cloud, const Index dim, const unsigned creationOptionFlags, const cl_device_type deviceType)
	constructor, calls NearestNeighbourSearch<T>(cloud)
void	initOpenCL (const char *clFileName, const char *kernelName, const std::string &additionalDefines="")
	Initialize CL support.
virtual unsigned long	knn (const Matrix &query, IndexMatrix &indices, Matrix &dists2, const Index k, const T epsilon, const unsigned optionFlags, const T maxRadius) const
	Find the k nearest neighbours for each point of query.

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Detailed Description

template<typename T>
struct Nabo::OpenCLSearch< T >

OpenCL support for nearest neighbour search.

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Member Function Documentation

template<typename T >

void Nabo::OpenCLSearch< T >::initOpenCL	(	const char *	clFileName,
		const char *	kernelName,
		const std::string &	additionalDefines = ""
	)			[inline, protected]

Initialize CL support.

Parameters:

	clFileName	name of file containing CL code
	kernelName	name of the CL kernel function
	additionalDefines	additional CL code to pass to compiler

template<typename T >

unsigned long Nabo::OpenCLSearch< T >::knn	(	const Matrix &	query,
		IndexMatrix &	indices,
		Matrix &	dists2,
		const Index	k,
		const T	epsilon,
		const unsigned	optionFlags,
		const T	maxRadius
	)			const [inline, virtual]

Find the k nearest neighbours for each point of query.

If the search finds less than k points, the empty entries in dists2 will be filled with infinity and the indices with 0.

Parameters:

	query	query points
	indices	indices of nearest neighbours, must be of size k x query.cols()
	dists2	squared distances to nearest neighbours, must be of size k x query.cols()
	k	number of nearest neighbour requested
	epsilon	maximal percentage of error for approximate search, 0 for exact search
	optionFlags	search options, a bitwise OR of elements of SearchOptionFlags
	maxRadius	maximum radius in which to search, can be used to prune search, is not affected by epsilon

Returns:

if creationOptionFlags contains TOUCH_STATISTICS, return the number of point touched, otherwise return 0

Implements Nabo::NearestNeighbourSearch< T >.

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The documentation for this struct was generated from the following files:

• nabo_private.h
• kdtree_opencl.cpp