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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_c59a592f06e82849d331f7a80f9235b4.html">ann</a></li> </ul>
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<div class="title">flat_container.hpp</div> </div>
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<a href="flat__container_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <queue></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <Eigen/Geometry></span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <<a class="code" href="ann_2traits_8hpp.html">small_gicp/ann/traits.hpp</a>></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <<a class="code" href="points_2traits_8hpp.html">small_gicp/points/traits.hpp</a>></span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <<a class="code" href="knn__result_8hpp.html">small_gicp/ann/knn_result.hpp</a>></span></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
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<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html"> 12</a></span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">template</span> <<span class="keywordtype">bool</span> HasNormals = false, <span class="keywordtype">bool</span> HasCovs = false></div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html"> 21</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer</a> {</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html"> 24</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html">Setting</a> {</div>
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<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#af868a0e231934c36f39db0950160921b"> 25</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#af868a0e231934c36f39db0950160921b">min_sq_dist_in_cell</a> = 0.1 * 0.1; </div>
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<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#a942a09c48c0b89864e5b05e8bec3363b"> 26</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#a942a09c48c0b89864e5b05e8bec3363b">max_num_points_in_cell</a> = 10; </div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  };</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
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<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a91c8d1c2e56502209827e669ebaee755"> 30</a></span>  <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a91c8d1c2e56502209827e669ebaee755">FlatContainer</a>() { <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>.reserve(5); }</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
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<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060"> 33</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>.size(); }</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud></div>
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<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a8d0e42a5d9ea7b996774c9d9c1b41b01"> 43</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a8d0e42a5d9ea7b996774c9d9c1b41b01">add</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html">Setting</a>& setting, <span class="keyword">const</span> Eigen::Vector4d& transformed_pt, <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Isometry3d& T) {</div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">if</span> (</div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  this->points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#aa547fefb1bc9eb44aa7ea7d11a82f152">size</a>() >= setting.<a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#a942a09c48c0b89864e5b05e8bec3363b">max_num_points_in_cell</a> || <span class="comment">//</span></div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  std::any_of(this->points.begin(), this->points.end(), [&](<span class="keyword">const</span> <span class="keyword">auto</span>& pt) { return (pt - transformed_pt).squaredNorm() < setting.min_sq_dist_in_cell; }) <span class="comment">//</span></div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  ) {</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">return</span>;</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  }</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  this->points.emplace_back(transformed_pt);</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">if</span> constexpr (HasNormals) {</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  this-><a class="code" href="structsmall__gicp_1_1FlatContainer.html#a5c0205f9788b340d2f832528b79a5e76">normals</a>.emplace_back(T.matrix() * <a class="code" href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">traits::normal</a>(<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>, i));</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  }</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">if</span> constexpr (HasCovs) {</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  this-><a class="code" href="structsmall__gicp_1_1FlatContainer.html#aeea90b260f15598c76346cc76c6801c2">covs</a>.emplace_back(T.matrix() * <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">traits::cov</a>(<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>, i) * T.matrix().transpose());</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
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<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a91709c9d0715bc9b68cf1319188c48ad"> 61</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a91709c9d0715bc9b68cf1319188c48ad">finalize</a>() {}</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
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<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a585ecff1324303b7f2594f3e42507957"> 68</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a585ecff1324303b7f2594f3e42507957">nearest_neighbor_search</a>(<span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</span>* k_index, <span class="keywordtype">double</span>* k_sq_dist)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>.empty()) {</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">return</span> 0;</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  }</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html">KnnResult<1></a> result(k_index, k_sq_dist);</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <a class="code" href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3">knn_search</a>(pt, result);</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">return</span> result.<a class="code" href="structsmall__gicp_1_1KnnResult.html#a98726a0269ad1bcc4b330176a1566a28">num_found</a>();</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  }</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
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<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3"> 84</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3">knn_search</a>(<span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">int</span> k, <span class="keywordtype">size_t</span>* k_indices, <span class="keywordtype">double</span>* k_sq_dists)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>.empty()) {</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">return</span> 0;</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  }</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html">KnnResult</a><-1> result(k_indices, k_sq_dists, k);</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3">knn_search</a>(pt, result);</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">return</span> result.<a class="code" href="structsmall__gicp_1_1KnnResult.html#a98726a0269ad1bcc4b330176a1566a28">num_found</a>();</div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  }</div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Result></div>
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<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#ae63f0a5aa1ede77bc7bf8465a3378179"> 101</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#ae63f0a5aa1ede77bc7bf8465a3378179">knn_search</a>(<span class="keyword">const</span> Eigen::Vector4d& pt, Result& result)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>.empty()) {</div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">return</span>;</div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>.size(); i++) {</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> sq_dist = (<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>[i] - pt).squaredNorm();</div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  result.push(i, sq_dist);</div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer_1_1Empty.html"> 113</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Empty.html">Empty</a> {};</div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
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<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad"> 115</a></span>  std::vector<Eigen::Vector4d> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>; </div>
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<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#a5c0205f9788b340d2f832528b79a5e76"> 116</a></span>  std::conditional_t<HasNormals, std::vector<Eigen::Vector4d>, <a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Empty.html">Empty</a>> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#a5c0205f9788b340d2f832528b79a5e76">normals</a>; </div>
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<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1FlatContainer.html#aeea90b260f15598c76346cc76c6801c2"> 117</a></span>  std::conditional_t<HasCovs, std::vector<Eigen::Matrix4d>, <a class="code" href="structsmall__gicp_1_1FlatContainer_1_1Empty.html">Empty</a>> <a class="code" href="structsmall__gicp_1_1FlatContainer.html#aeea90b260f15598c76346cc76c6801c2">covs</a>; </div>
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<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> };</div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
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<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#a55b1d2331cfcdfeaeb494862cb2390ae"> 121</a></span> <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainerPoints</a> = <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<false, false></a>;</div>
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<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#aec427d082aeabc51dd991316f4e5b0ea"> 123</a></span> <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainerNormal</a> = <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<true, false></a>;</div>
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<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#a073a085485230911389f63d46e5547dd"> 125</a></span> <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainerCov</a> = <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<false, true></a>;</div>
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<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#ac0ce4510ed4baa8bc08f120c4a46fd12"> 127</a></span> <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainerNormalCov</a> = <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<true, true></a>;</div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  </div>
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<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html"> 129</a></span> <span class="keyword">namespace </span>traits {</div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  </div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">template</span> <<span class="keywordtype">bool</span> HasNormals, <span class="keywordtype">bool</span> HasCovs></div>
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<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html"> 132</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1traits_1_1Traits.html">Traits</a><<a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer</a><HasNormals, HasCovs>> {</div>
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<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a6043d2d57541913466430cba03172808"> 133</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a6043d2d57541913466430cba03172808">size</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container) { <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060">size</a>(); }</div>
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<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aadd544ae51ade6dee5d8d5c7b3bee125"> 134</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aadd544ae51ade6dee5d8d5c7b3bee125">has_points</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container) { <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060">size</a>(); }</div>
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<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a22dc3140a96c5bd64b275c180989a9e3"> 135</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a22dc3140a96c5bd64b275c180989a9e3">has_normals</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container) { <span class="keywordflow">return</span> HasNormals && container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060">size</a>(); }</div>
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<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a25ad64c0d3fcbe4fc324696dcce65aa7"> 136</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a25ad64c0d3fcbe4fc324696dcce65aa7">has_covs</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container) { <span class="keywordflow">return</span> HasCovs && container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060">size</a>(); }</div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  </div>
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<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a8fb68c0d52a1881dd42d2961da179247"> 138</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a8fb68c0d52a1881dd42d2961da179247">point</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">points</a>[i]; }</div>
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<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aa78e6d47904386ade65185049bc24a3f"> 139</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aa78e6d47904386ade65185049bc24a3f">normal</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a5c0205f9788b340d2f832528b79a5e76">normals</a>[i]; }</div>
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<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#adbe3cf157e59a302547b221ec0d884a7"> 140</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d& <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#adbe3cf157e59a302547b221ec0d884a7">cov</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#aeea90b260f15598c76346cc76c6801c2">covs</a>[i]; }</div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  </div>
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<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aaceda3bb636ba8ae5cdfdb4d9fd1f77b"> 142</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aaceda3bb636ba8ae5cdfdb4d9fd1f77b">nearest_neighbor_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container, <span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</span>* k_index, <span class="keywordtype">double</span>* k_sq_dist) {</div>
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<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#a585ecff1324303b7f2594f3e42507957">nearest_neighbor_search</a>(pt, k_index, k_sq_dist);</div>
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<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
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<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a3dc4d3ae2145ba3731b98d1cd1dcd13c"> 146</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a3dc4d3ae2145ba3731b98d1cd1dcd13c">knn_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container, <span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</span> k, <span class="keywordtype">size_t</span>* k_index, <span class="keywordtype">double</span>* k_sq_dist) {</div>
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<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3">knn_search</a>(pt, k, k_index, k_sq_dist);</div>
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<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div>
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<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
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<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Result></div>
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<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a810e4d43ad4e8ecc0e175ccd573f9c02"> 151</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a810e4d43ad4e8ecc0e175ccd573f9c02">knn_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1FlatContainer.html">FlatContainer<HasNormals, HasCovs></a>& container, <span class="keyword">const</span> Eigen::Vector4d& pt, Result& result) {</div>
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<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  container.<a class="code" href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3">knn_search</a>(pt, result);</div>
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<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  }</div>
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<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> };</div>
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<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
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<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> } <span class="comment">// namespace traits</span></div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="aann_2traits_8hpp_html"><div class="ttname"><a href="ann_2traits_8hpp.html">traits.hpp</a></div></div>
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<div class="ttc" id="aknn__result_8hpp_html"><div class="ttname"><a href="knn__result_8hpp.html">knn_result.hpp</a></div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ac9146681bcef16a4c73d3fd05ad295c7"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">small_gicp::traits::cov</a></div><div class="ttdeci">auto cov(const T &points, size_t i)</div><div class="ttdoc">Get i-th covariance. Only the top-left 3x3 matrix is filled, and the bottom row and the right col mus...</div><div class="ttdef"><b>Definition:</b> traits.hpp:52</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ad162655a1c08776aa4c94c2fa1ebf863"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">small_gicp::traits::normal</a></div><div class="ttdeci">auto normal(const T &points, size_t i)</div><div class="ttdoc">Get i-th normal. 4D vector is used to take advantage of SIMD intrinsics. The last element must be fil...</div><div class="ttdef"><b>Definition:</b> traits.hpp:46</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="apoints_2traits_8hpp_html"><div class="ttname"><a href="points_2traits_8hpp.html">traits.hpp</a></div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_1_1Empty_html"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer_1_1Empty.html">small_gicp::FlatContainer::Empty</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:113</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer_1_1Setting.html">small_gicp::FlatContainer::Setting</a></div><div class="ttdoc">FlatContainer setting.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_1_1Setting_html_a942a09c48c0b89864e5b05e8bec3363b"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#a942a09c48c0b89864e5b05e8bec3363b">small_gicp::FlatContainer::Setting::max_num_points_in_cell</a></div><div class="ttdeci">size_t max_num_points_in_cell</div><div class="ttdoc">Maximum number of points in a cell.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:26</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_1_1Setting_html_af868a0e231934c36f39db0950160921b"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer_1_1Setting.html#af868a0e231934c36f39db0950160921b">small_gicp::FlatContainer::Setting::min_sq_dist_in_cell</a></div><div class="ttdeci">double min_sq_dist_in_cell</div><div class="ttdoc">Minimum squared distance between points in a cell.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:25</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html">small_gicp::FlatContainer</a></div><div class="ttdoc">Point container with a flat vector.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:21</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a1c22f84324b04e134947147a4aefa5ad"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a1c22f84324b04e134947147a4aefa5ad">small_gicp::FlatContainer::points</a></div><div class="ttdeci">std::vector< Eigen::Vector4d > points</div><div class="ttdoc">Points.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:115</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a585ecff1324303b7f2594f3e42507957"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a585ecff1324303b7f2594f3e42507957">small_gicp::FlatContainer::nearest_neighbor_search</a></div><div class="ttdeci">size_t nearest_neighbor_search(const Eigen::Vector4d &pt, size_t *k_index, double *k_sq_dist) const</div><div class="ttdoc">Find the nearest neighbor.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:68</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a5c0205f9788b340d2f832528b79a5e76"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a5c0205f9788b340d2f832528b79a5e76">small_gicp::FlatContainer::normals</a></div><div class="ttdeci">std::conditional_t< HasNormals, std::vector< Eigen::Vector4d >, Empty > normals</div><div class="ttdoc">Normals (Empty if HasNormals is false)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:116</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a7372a87fd3b3da17ae7efed705db8060"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a7372a87fd3b3da17ae7efed705db8060">small_gicp::FlatContainer::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:33</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a8d0e42a5d9ea7b996774c9d9c1b41b01"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a8d0e42a5d9ea7b996774c9d9c1b41b01">small_gicp::FlatContainer::add</a></div><div class="ttdeci">void add(const Setting &setting, const Eigen::Vector4d &transformed_pt, const PointCloud &points, size_t i, const Eigen::Isometry3d &T)</div><div class="ttdoc">Add a point to the container. If there is a point that is too close to the input point,...</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:43</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a91709c9d0715bc9b68cf1319188c48ad"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a91709c9d0715bc9b68cf1319188c48ad">small_gicp::FlatContainer::finalize</a></div><div class="ttdeci">void finalize()</div><div class="ttdoc">Finalize the container (Nothing to do for FlatContainer).</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:61</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_a91c8d1c2e56502209827e669ebaee755"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#a91c8d1c2e56502209827e669ebaee755">small_gicp::FlatContainer::FlatContainer</a></div><div class="ttdeci">FlatContainer()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:30</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_ab8b3cdda0098edbf509cc6baa928cae3"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#ab8b3cdda0098edbf509cc6baa928cae3">small_gicp::FlatContainer::knn_search</a></div><div class="ttdeci">size_t knn_search(const Eigen::Vector4d &pt, int k, size_t *k_indices, double *k_sq_dists) const</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:84</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_ae63f0a5aa1ede77bc7bf8465a3378179"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#ae63f0a5aa1ede77bc7bf8465a3378179">small_gicp::FlatContainer::knn_search</a></div><div class="ttdeci">void knn_search(const Eigen::Vector4d &pt, Result &result) const</div><div class="ttdoc">Find k nearest neighbors.</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:101</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1FlatContainer_html_aeea90b260f15598c76346cc76c6801c2"><div class="ttname"><a href="structsmall__gicp_1_1FlatContainer.html#aeea90b260f15598c76346cc76c6801c2">small_gicp::FlatContainer::covs</a></div><div class="ttdeci">std::conditional_t< HasCovs, std::vector< Eigen::Matrix4d >, Empty > covs</div><div class="ttdoc">Covariances (Empty if HasCovs is false)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:117</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html">small_gicp::KnnResult</a></div><div class="ttdoc">K-nearest neighbor search result container.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:33</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a98726a0269ad1bcc4b330176a1566a28"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a98726a0269ad1bcc4b330176a1566a28">small_gicp::KnnResult::num_found</a></div><div class="ttdeci">size_t num_found() const</div><div class="ttdoc">Number of found neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:73</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html">small_gicp::PointCloud</a></div><div class="ttdoc">Point cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_aa547fefb1bc9eb44aa7ea7d11a82f152"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#aa547fefb1bc9eb44aa7ea7d11a82f152">small_gicp::PointCloud::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:37</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_a22dc3140a96c5bd64b275c180989a9e3"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a22dc3140a96c5bd64b275c180989a9e3">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::has_normals</a></div><div class="ttdeci">static bool has_normals(const FlatContainer< HasNormals, HasCovs > &container)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:135</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_a25ad64c0d3fcbe4fc324696dcce65aa7"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a25ad64c0d3fcbe4fc324696dcce65aa7">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::has_covs</a></div><div class="ttdeci">static bool has_covs(const FlatContainer< HasNormals, HasCovs > &container)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:136</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_a3dc4d3ae2145ba3731b98d1cd1dcd13c"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a3dc4d3ae2145ba3731b98d1cd1dcd13c">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::knn_search</a></div><div class="ttdeci">static size_t knn_search(const FlatContainer< HasNormals, HasCovs > &container, const Eigen::Vector4d &pt, size_t k, size_t *k_index, double *k_sq_dist)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:146</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_a6043d2d57541913466430cba03172808"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a6043d2d57541913466430cba03172808">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::size</a></div><div class="ttdeci">static size_t size(const FlatContainer< HasNormals, HasCovs > &container)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:133</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_a810e4d43ad4e8ecc0e175ccd573f9c02"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a810e4d43ad4e8ecc0e175ccd573f9c02">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::knn_search</a></div><div class="ttdeci">static void knn_search(const FlatContainer< HasNormals, HasCovs > &container, const Eigen::Vector4d &pt, Result &result)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:151</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_a8fb68c0d52a1881dd42d2961da179247"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#a8fb68c0d52a1881dd42d2961da179247">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::point</a></div><div class="ttdeci">static const Eigen::Vector4d & point(const FlatContainer< HasNormals, HasCovs > &container, size_t i)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:138</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_aa78e6d47904386ade65185049bc24a3f"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aa78e6d47904386ade65185049bc24a3f">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::normal</a></div><div class="ttdeci">static const Eigen::Vector4d & normal(const FlatContainer< HasNormals, HasCovs > &container, size_t i)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:139</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_aaceda3bb636ba8ae5cdfdb4d9fd1f77b"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aaceda3bb636ba8ae5cdfdb4d9fd1f77b">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::nearest_neighbor_search</a></div><div class="ttdeci">static size_t nearest_neighbor_search(const FlatContainer< HasNormals, HasCovs > &container, const Eigen::Vector4d &pt, size_t *k_index, double *k_sq_dist)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:142</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_aadd544ae51ade6dee5d8d5c7b3bee125"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#aadd544ae51ade6dee5d8d5c7b3bee125">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::has_points</a></div><div class="ttdeci">static bool has_points(const FlatContainer< HasNormals, HasCovs > &container)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:134</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4_html_adbe3cf157e59a302547b221ec0d884a7"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01FlatContainer_3_01HasNormals_00_01HasCovs_01_4_01_4.html#adbe3cf157e59a302547b221ec0d884a7">small_gicp::traits::Traits< FlatContainer< HasNormals, HasCovs > >::cov</a></div><div class="ttdeci">static const Eigen::Matrix4d & cov(const FlatContainer< HasNormals, HasCovs > &container, size_t i)</div><div class="ttdef"><b>Definition:</b> flat_container.hpp:140</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_html"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits.html">small_gicp::traits::Traits</a></div><div class="ttdef"><b>Definition:</b> traits.hpp:13</div></div>
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