enum mola::PointIndexType

Overview

The data structure answering the nearest-neighbor queries of mola::IncrementalPointCloud. More…

#include <PointIndexType.h>

enum PointIndexType
{
    KDTree    = 0,
    VoxelHash,
};

Detailed Documentation

The data structure answering the nearest-neighbor queries of mola::IncrementalPointCloud. Both are exact: they return the same neighbor distances, and may only differ in which of several exactly equidistant points they pick.

Enum Values

KDTree

Incremental, self-balancing k-d tree (nanoflann). Points are removed lazily (tombstones) and the tree is kept balanced by partial rebuilds, optionally on a background thread.

VoxelHash

Hashed grid of voxels, each one keeping a contiguous copy of its points. Queries visit the voxels around the query in rings of growing size, pruning those farther than the current result. Insertion and removal are O(1) per point, with no rebuilds at all.