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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">incremental_voxelmap.hpp</div> </div>
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<a href="incremental__voxelmap_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 <vector></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <unordered_map></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <Eigen/Geometry></span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</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="l00012"></a><span class="lineno"> 12</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="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <<a class="code" href="flat__container_8hpp.html">small_gicp/ann/flat_container.hpp</a>></span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</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="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <<a class="code" href="fast__floor_8hpp.html">small_gicp/util/fast_floor.hpp</a>></span></div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <<a class="code" href="vector3i__hash_8hpp.html">small_gicp/util/vector3i_hash.hpp</a>></span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</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="l00019"></a><span class="lineno"> 19</span>  </div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1VoxelInfo.html"> 21</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1VoxelInfo.html">VoxelInfo</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="l00026"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1VoxelInfo.html#a61016e65ccc031572b1dc474ec6babcc"> 26</a></span>  <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a61016e65ccc031572b1dc474ec6babcc">VoxelInfo</a>(<span class="keyword">const</span> Eigen::Vector3i& <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a38e6968a3451b8950ea6108a9b0a0b51">coord</a>, <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a0507136d57f579ddbe23db7f46653972">lru</a>) : <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a0507136d57f579ddbe23db7f46653972">lru</a>(<a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a0507136d57f579ddbe23db7f46653972">lru</a>), <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a38e6968a3451b8950ea6108a9b0a0b51">coord</a>(<a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a38e6968a3451b8950ea6108a9b0a0b51">coord</a>) {}</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> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1VoxelInfo.html#a0507136d57f579ddbe23db7f46653972"> 29</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a0507136d57f579ddbe23db7f46653972">lru</a>; </div>
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<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1VoxelInfo.html#a38e6968a3451b8950ea6108a9b0a0b51"> 30</a></span>  Eigen::Vector3i <a class="code" href="structsmall__gicp_1_1VoxelInfo.html#a38e6968a3451b8950ea6108a9b0a0b51">coord</a>; </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="l00032"></a><span class="lineno"> 32</span>  </div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">template</span> <<span class="keyword">typename</span> VoxelContents></div>
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<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html"> 38</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap</a> {</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aa3359e10645a4a9418161590aa55fe0c"> 40</a></span>  <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aa3359e10645a4a9418161590aa55fe0c">Ptr</a> = std::shared_ptr<IncrementalVoxelMap>;</div>
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<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a6d4a5d372737172be1d9de918b88d498"> 41</a></span>  <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a6d4a5d372737172be1d9de918b88d498">ConstPtr</a> = std::shared_ptr<const IncrementalVoxelMap>;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
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<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aba2b6bc97aa8eb52f0f6d5907a8aba52"> 45</a></span>  <span class="keyword">explicit</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aba2b6bc97aa8eb52f0f6d5907a8aba52">IncrementalVoxelMap</a>(<span class="keywordtype">double</span> leaf_size) : <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9">inv_leaf_size</a>(1.0 / leaf_size), <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#abce65d0e2a90cbac70e055265a60db46">lru_horizon</a>(100), <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a224eeb653902d08d360b3bf1af5d5f8f">lru_clear_cycle</a>(10), <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e">lru_counter</a>(0) { <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a66a7ccaf7a12a00f6fa35749ea45590f">set_search_offsets</a>(1); }</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
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<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70"> 48</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.size(); }</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="l00053"></a><span class="lineno"> 53</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="l00054"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a1ae92d7f1ce47ed9d91e3c6f45a808ee"> 54</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a1ae92d7f1ce47ed9d91e3c6f45a808ee">insert</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& points, <span class="keyword">const</span> Eigen::Isometry3d& T = Eigen::Isometry3d::Identity()) {</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">// Insert points to the voxelmap</span></div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(points); i++) {</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">const</span> Eigen::Vector4d pt = T * <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(points, i);</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">const</span> Eigen::Vector3i coord = <a class="code" href="namespacesmall__gicp.html#aa4cea49ae3c02a77305e4efdcf21280a">fast_floor</a>(pt * <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9">inv_leaf_size</a>).template head<3>();</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="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">auto</span> found = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.find(coord);</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">if</span> (found == <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.end()) {</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">auto</span> voxel = std::make_shared<std::pair<VoxelInfo, VoxelContents>>(<a class="code" href="structsmall__gicp_1_1VoxelInfo.html">VoxelInfo</a>(coord, <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e">lru_counter</a>), VoxelContents());</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  found = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.emplace_hint(found, coord, <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.size());</div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.emplace_back(voxel);</div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  }</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">auto</span>& [info, voxel] = *<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[found->second];</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  info.lru = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e">lru_counter</a>;</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  voxel.add(<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a82124fa68cad50f0c2cdc82f3f027096">voxel_setting</a>, pt, points, i, T);</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>  <span class="keywordflow">if</span> ((++<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e">lru_counter</a>) % <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a224eeb653902d08d360b3bf1af5d5f8f">lru_clear_cycle</a> == 0) {</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// Remove least recently used voxels</span></div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">auto</span> remove_counter = std::remove_if(<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.begin(), <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.end(), [&](<span class="keyword">const</span> std::shared_ptr<std::pair<VoxelInfo, VoxelContents>>& voxel) {</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  return voxel->first.lru + lru_horizon < lru_counter;</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="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.erase(remove_counter, <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.end());</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// Rehash</span></div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.clear();</div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.size(); i++) {</div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>[<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[i]->first.coord] = i;</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// Finalize voxel means and covs</span></div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">for</span> (<span class="keyword">auto</span>& voxel : <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>) {</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  voxel->second.finalize();</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  }</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</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="l00098"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a4606a0b974102ffb4993cab7d7e84fd3"> 98</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a4606a0b974102ffb4993cab7d7e84fd3">nearest_neighbor_search</a>(<span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</span>* index, <span class="keywordtype">double</span>* sq_dist)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keyword">const</span> Eigen::Vector3i center = <a class="code" href="namespacesmall__gicp.html#aa4cea49ae3c02a77305e4efdcf21280a">fast_floor</a>(pt * <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9">inv_leaf_size</a>).template head<3>();</div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">size_t</span> voxel_index = 0;</div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keyword">const</span> <span class="keyword">auto</span> index_transform = [&](<span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a716be702cbdf5e60076dc7a7cdbf92c0">calc_index</a>(voxel_index, i); };</div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html">KnnResult</a><1, decltype(index_transform)> result(index, sq_dist, -1, index_transform);</div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& offset : <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">search_offsets</a>) {</div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">const</span> Eigen::Vector3i coord = center + offset;</div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keyword">const</span> <span class="keyword">auto</span> found = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.find(coord);</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">if</span> (found == <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.end()) {</div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">continue</span>;</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>  voxel_index = found->second;</div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">const</span> <span class="keyword">auto</span>& voxel = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[voxel_index]->second;</div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <a class="code" href="namespacesmall__gicp_1_1traits.html#a927fe18050c38911860ab3eed8012646">traits::Traits<VoxelContents>::knn_search</a>(voxel, pt, result);</div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  }</div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</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="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="l00126"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aadfd7a7c92bb208caa37dfa100409632"> 126</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aadfd7a7c92bb208caa37dfa100409632">knn_search</a>(<span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</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="l00127"></a><span class="lineno"> 127</span>  <span class="keyword">const</span> Eigen::Vector3i center = <a class="code" href="namespacesmall__gicp.html#aa4cea49ae3c02a77305e4efdcf21280a">fast_floor</a>(pt * <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9">inv_leaf_size</a>).template head<3>();</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"> 129</span>  <span class="keywordtype">size_t</span> voxel_index = 0;</div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">const</span> <span class="keyword">auto</span> index_transform = [&](<span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a716be702cbdf5e60076dc7a7cdbf92c0">calc_index</a>(voxel_index, i); };</div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html">KnnResult</a><-1, decltype(index_transform)> result(k_indices, k_sq_dists, k, index_transform);</div>
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<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& offset : <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">search_offsets</a>) {</div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">const</span> Eigen::Vector3i coord = center + offset;</div>
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<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keyword">const</span> <span class="keyword">auto</span> found = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.find(coord);</div>
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<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">if</span> (found == <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>.end()) {</div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">continue</span>;</div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  voxel_index = found->second;</div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keyword">const</span> <span class="keyword">auto</span>& voxel = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[voxel_index]->second;</div>
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<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
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<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <a class="code" href="namespacesmall__gicp_1_1traits.html#a927fe18050c38911860ab3eed8012646">traits::Traits<VoxelContents>::knn_search</a>(voxel, pt, result);</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"> 146</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="l00147"></a><span class="lineno"> 147</span>  }</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="l00150"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a716be702cbdf5e60076dc7a7cdbf92c0"> 150</a></span>  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a716be702cbdf5e60076dc7a7cdbf92c0">calc_index</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">voxel_id</a>, <span class="keyword">const</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">point_id</a>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">voxel_id</a> << <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e">point_id_bits</a>) | <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">point_id</a>; }</div>
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<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669"> 151</a></span>  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">voxel_id</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> i >> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e">point_id_bits</a>; } </div>
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<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123"> 152</a></span>  <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">point_id</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> i & ((1ull << <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e">point_id_bits</a>) - 1); } </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="l00156"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a66a7ccaf7a12a00f6fa35749ea45590f"> 156</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a66a7ccaf7a12a00f6fa35749ea45590f">set_search_offsets</a>(<span class="keywordtype">int</span> num_offsets) {</div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">switch</span> (num_offsets) {</div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">default</span>:</div>
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<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  std::cerr << <span class="stringliteral">"warning: unsupported search_offsets="</span> << num_offsets << <span class="stringliteral">" (supported values: 1, 7, 27)"</span> << std::endl;</div>
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<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  std::cerr << <span class="stringliteral">" : using default search_offsets=1"</span> << std::endl;</div>
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<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  [[fallthrough]];</div>
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<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">case</span> 1:</div>
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<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">search_offsets</a> = {Eigen::Vector3i(0, 0, 0)};</div>
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<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordflow">break</span>;</div>
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<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">case</span> 7:</div>
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<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">search_offsets</a> = {</div>
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<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  Eigen::Vector3i(0, 0, 0),</div>
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<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  Eigen::Vector3i(1, 0, 0),</div>
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<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  Eigen::Vector3i(0, 1, 0),</div>
|
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<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  Eigen::Vector3i(0, 0, 1),</div>
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<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  Eigen::Vector3i(-1, 0, 0),</div>
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<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  Eigen::Vector3i(0, -1, 0),</div>
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<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  Eigen::Vector3i(0, 0, -1)};</div>
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<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">break</span>;</div>
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<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">case</span> 27:</div>
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<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = -1; i <= 1; i++) {</div>
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<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = -1; j <= 1; j++) {</div>
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<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = -1; k <= 1; k++) {</div>
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<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">search_offsets</a>.emplace_back(i, j, k);</div>
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<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  }</div>
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<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  }</div>
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<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div>
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<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">break</span>;</div>
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<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div>
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<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  }</div>
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<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  </div>
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<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  static_assert(<span class="keyword">sizeof</span>(<span class="keywordtype">size_t</span>) == 8, <span class="stringliteral">"size_t must be 64-bit"</span>);</div>
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<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e"> 189</a></span>  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e">point_id_bits</a> = 32; </div>
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<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a186a4bc53df71d47bda1651c3d2bc1b8"> 190</a></span>  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a186a4bc53df71d47bda1651c3d2bc1b8">voxel_id_bits</a> = 64 - <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e">point_id_bits</a>; </div>
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<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9"> 191</a></span>  <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9">inv_leaf_size</a>; </div>
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<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
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<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#abce65d0e2a90cbac70e055265a60db46"> 193</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#abce65d0e2a90cbac70e055265a60db46">lru_horizon</a>; </div>
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<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a224eeb653902d08d360b3bf1af5d5f8f"> 194</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a224eeb653902d08d360b3bf1af5d5f8f">lru_clear_cycle</a>; </div>
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<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e"> 195</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e">lru_counter</a>; </div>
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<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  </div>
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<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a"> 197</a></span>  std::vector<Eigen::Vector3i> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">search_offsets</a>; </div>
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<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  </div>
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<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a82124fa68cad50f0c2cdc82f3f027096"> 199</a></span>  <span class="keyword">typename</span> VoxelContents::Setting <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a82124fa68cad50f0c2cdc82f3f027096">voxel_setting</a>; </div>
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<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9"> 200</a></span>  std::vector<std::shared_ptr<std::pair<VoxelInfo, VoxelContents>>> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>; </div>
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<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431"> 201</a></span>  std::unordered_map<Eigen::Vector3i, size_t, XORVector3iHash> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">voxels</a>; </div>
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<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> };</div>
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<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  </div>
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<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="keyword">namespace </span>traits {</div>
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<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  </div>
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<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">template</span> <<span class="keyword">typename</span> VoxelContents></div>
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<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html"> 207</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_1IncrementalVoxelMap.html">IncrementalVoxelMap</a><VoxelContents>> {</div>
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<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a53a0081aa37482584d68b0c9b775b720"> 208</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a53a0081aa37482584d68b0c9b775b720">size</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap) { <span class="keywordflow">return</span> voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">size</a>(); }</div>
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<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div>
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<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a06c3e9d43806d1ea248f4bd97e19afa9"> 210</a></span>  <span class="keyword">static</span> Eigen::Vector4d <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a06c3e9d43806d1ea248f4bd97e19afa9">point</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap, <span class="keywordtype">size_t</span> i) {</div>
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<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> voxel_id = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">voxel_id</a>(i);</div>
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<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> point_id = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">point_id</a>(i);</div>
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<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keyword">const</span> <span class="keyword">auto</span>& voxel = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[voxel_id]->second;</div>
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<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(voxel, point_id);</div>
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<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  }</div>
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<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a2d964f076c9d62a534378d1fa6809e96"> 216</a></span>  <span class="keyword">static</span> Eigen::Vector4d <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a2d964f076c9d62a534378d1fa6809e96">normal</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap, <span class="keywordtype">size_t</span> i) {</div>
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<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> voxel_id = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">voxel_id</a>(i);</div>
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<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> point_id = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">point_id</a>(i);</div>
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<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keyword">const</span> <span class="keyword">auto</span>& voxel = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[voxel_id]->second;</div>
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<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">traits::normal</a>(voxel, point_id);</div>
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<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div>
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<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a37f9ccb3289662452b244d71e636d615"> 222</a></span>  <span class="keyword">static</span> Eigen::Matrix4d <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a37f9ccb3289662452b244d71e636d615">cov</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap, <span class="keywordtype">size_t</span> i) {</div>
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<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> voxel_id = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">voxel_id</a>(i);</div>
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<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> point_id = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">point_id</a>(i);</div>
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<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keyword">const</span> <span class="keyword">auto</span>& voxel = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[voxel_id]->second;</div>
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<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">traits::cov</a>(voxel, point_id);</div>
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<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  }</div>
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<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  </div>
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<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#abe301b7ed41d086f888f93add4ef1a49"> 229</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#abe301b7ed41d086f888f93add4ef1a49">nearest_neighbor_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap, <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="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">return</span> voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a4606a0b974102ffb4993cab7d7e84fd3">nearest_neighbor_search</a>(pt, k_index, k_sq_dist);</div>
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<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div>
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<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  </div>
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<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a53c4b9cf2e177aac0dda31b884031e93"> 233</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a53c4b9cf2e177aac0dda31b884031e93">knn_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap, <span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">int</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="l00234"></a><span class="lineno"> 234</span>  <span class="keywordflow">return</span> voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#aadfd7a7c92bb208caa37dfa100409632">knn_search</a>(pt, k, k_index, k_sq_dist);</div>
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<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  }</div>
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<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> };</div>
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<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  </div>
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<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="keyword">template</span> <<span class="keyword">typename</span> VoxelContents></div>
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<div class="line"><a name="l00239"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a841f2efc793f07f14a09d925acca1dd6"> 239</a></span> std::vector<size_t> <a class="code" href="namespacesmall__gicp_1_1traits.html#a841f2efc793f07f14a09d925acca1dd6">point_indices</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap) {</div>
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<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  std::vector<size_t> indices;</div>
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<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  indices.reserve(voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">size</a>() * 5);</div>
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<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
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<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> voxel_id = 0; voxel_id < voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>.size(); voxel_id++) {</div>
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<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">const</span> <span class="keyword">auto</span>& voxel = voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>[voxel_id];</div>
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<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> point_id = 0; point_id < <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(voxel->second); point_id++) {</div>
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<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  indices.emplace_back(voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a716be702cbdf5e60076dc7a7cdbf92c0">calc_index</a>(voxel_id, point_id));</div>
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<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  }</div>
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<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  }</div>
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<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
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<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">return</span> indices;</div>
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<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> }</div>
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<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
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<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">template</span> <<span class="keyword">typename</span> VoxelContents></div>
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<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a0928fa63d5e4c1e6ea1089a3a06c8a48"> 254</a></span> std::vector<Eigen::Vector4d> <a class="code" href="namespacesmall__gicp_1_1traits.html#a0928fa63d5e4c1e6ea1089a3a06c8a48">voxel_points</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap) {</div>
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<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  std::vector<Eigen::Vector4d> points;</div>
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<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  points.reserve(voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">size</a>() * 5);</div>
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<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div>
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<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& voxel : voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>) {</div>
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<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(voxel->second); i++) {</div>
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<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  points.push_back(<a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(voxel->second, i));</div>
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<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  }</div>
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<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  }</div>
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<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordflow">return</span> points;</div>
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<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> }</div>
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<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
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<div class="line"><a name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">template</span> <<span class="keyword">typename</span> VoxelContents></div>
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<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a70f03ca50e55ddc0ae4954f37f8b90b2"> 267</a></span> std::vector<Eigen::Vector4d> <a class="code" href="namespacesmall__gicp_1_1traits.html#a70f03ca50e55ddc0ae4954f37f8b90b2">voxel_normals</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap) {</div>
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<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  std::vector<Eigen::Vector4d> normals;</div>
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<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  normals.reserve(voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">size</a>() * 5);</div>
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<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div>
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<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& voxel : voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>) {</div>
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<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(voxel->second); i++) {</div>
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<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  normals.push_back(<a class="code" href="namespacesmall__gicp_1_1traits.html#ad162655a1c08776aa4c94c2fa1ebf863">traits::normal</a>(voxel->second, i));</div>
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<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  }</div>
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<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  }</div>
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<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">return</span> normals;</div>
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<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> }</div>
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<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  </div>
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<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="keyword">template</span> <<span class="keyword">typename</span> VoxelContents></div>
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<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="namespacesmall__gicp_1_1traits.html#a05f82f156bf4e0e767aaeed019f1ba2d"> 280</a></span> std::vector<Eigen::Matrix4d> <a class="code" href="namespacesmall__gicp_1_1traits.html#a05f82f156bf4e0e767aaeed019f1ba2d">voxel_covs</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<VoxelContents></a>& voxelmap) {</div>
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<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  std::vector<Eigen::Matrix4d> covs;</div>
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<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  covs.reserve(voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">size</a>() * 5);</div>
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<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
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<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& voxel : voxelmap.<a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">flat_voxels</a>) {</div>
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<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(voxel->second); i++) {</div>
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<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  covs.push_back(<a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">traits::cov</a>(voxel->second, i));</div>
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<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
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<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  }</div>
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<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">return</span> covs;</div>
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<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> }</div>
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<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  </div>
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<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> } <span class="comment">// namespace traits</span></div>
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<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  </div>
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<div class="line"><a name="l00294"></a><span class="lineno"> 294</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="afast__floor_8hpp_html"><div class="ttname"><a href="fast__floor_8hpp.html">fast_floor.hpp</a></div></div>
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<div class="ttc" id="aflat__container_8hpp_html"><div class="ttname"><a href="flat__container_8hpp.html">flat_container.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_a05f82f156bf4e0e767aaeed019f1ba2d"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a05f82f156bf4e0e767aaeed019f1ba2d">small_gicp::traits::voxel_covs</a></div><div class="ttdeci">std::vector< Eigen::Matrix4d > voxel_covs(const IncrementalVoxelMap< VoxelContents > &voxelmap)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:280</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a0928fa63d5e4c1e6ea1089a3a06c8a48"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a0928fa63d5e4c1e6ea1089a3a06c8a48">small_gicp::traits::voxel_points</a></div><div class="ttdeci">std::vector< Eigen::Vector4d > voxel_points(const IncrementalVoxelMap< VoxelContents > &voxelmap)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:254</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a3c4ae38ff52330d6e624f4971c291fac"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">small_gicp::traits::size</a></div><div class="ttdeci">size_t size(const T &points)</div><div class="ttdoc">Get the number of points.</div><div class="ttdef"><b>Definition:</b> traits.hpp:16</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a66b660d3a0c2e81cdf06abc8efebdad1"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">small_gicp::traits::point</a></div><div class="ttdeci">auto point(const T &points, size_t i)</div><div class="ttdoc">Get i-th point. 4D vector is used to take advantage of SIMD intrinsics. The last element must be fill...</div><div class="ttdef"><b>Definition:</b> traits.hpp:40</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a70f03ca50e55ddc0ae4954f37f8b90b2"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a70f03ca50e55ddc0ae4954f37f8b90b2">small_gicp::traits::voxel_normals</a></div><div class="ttdeci">std::vector< Eigen::Vector4d > voxel_normals(const IncrementalVoxelMap< VoxelContents > &voxelmap)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:267</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a841f2efc793f07f14a09d925acca1dd6"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a841f2efc793f07f14a09d925acca1dd6">small_gicp::traits::point_indices</a></div><div class="ttdeci">std::vector< size_t > point_indices(const IncrementalVoxelMap< VoxelContents > &voxelmap)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:239</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a927fe18050c38911860ab3eed8012646"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a927fe18050c38911860ab3eed8012646">small_gicp::traits::knn_search</a></div><div class="ttdeci">size_t knn_search(const T &tree, const Eigen::Vector4d &point, size_t k, size_t *k_indices, double *k_sq_dists)</div><div class="ttdoc">Find k-nearest neighbors.</div><div class="ttdef"><b>Definition:</b> traits.hpp:23</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="anamespacesmall__gicp_html_aa4cea49ae3c02a77305e4efdcf21280a"><div class="ttname"><a href="namespacesmall__gicp.html#aa4cea49ae3c02a77305e4efdcf21280a">small_gicp::fast_floor</a></div><div class="ttdeci">Eigen::Array4i fast_floor(const Eigen::Array4d &pt)</div><div class="ttdoc">Fast floor (https://stackoverflow.com/questions/824118/why-is-floor-so-slow).</div><div class="ttdef"><b>Definition:</b> fast_floor.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_1IncrementalVoxelMap_html"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html">small_gicp::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a01ae8e05b5add639e43eda561c600cb9"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a01ae8e05b5add639e43eda561c600cb9">small_gicp::IncrementalVoxelMap::flat_voxels</a></div><div class="ttdeci">std::vector< std::shared_ptr< std::pair< VoxelInfo, VoxelContents > > > flat_voxels</div><div class="ttdoc">Voxel contents.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:200</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a186a4bc53df71d47bda1651c3d2bc1b8"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a186a4bc53df71d47bda1651c3d2bc1b8">small_gicp::IncrementalVoxelMap::voxel_id_bits</a></div><div class="ttdeci">static constexpr int voxel_id_bits</div><div class="ttdoc">Use the remaining bits for voxel id.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:190</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a1ae92d7f1ce47ed9d91e3c6f45a808ee"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a1ae92d7f1ce47ed9d91e3c6f45a808ee">small_gicp::IncrementalVoxelMap::insert</a></div><div class="ttdeci">void insert(const PointCloud &points, const Eigen::Isometry3d &T=Eigen::Isometry3d::Identity())</div><div class="ttdoc">Insert points to the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:54</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a224eeb653902d08d360b3bf1af5d5f8f"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a224eeb653902d08d360b3bf1af5d5f8f">small_gicp::IncrementalVoxelMap::lru_clear_cycle</a></div><div class="ttdeci">size_t lru_clear_cycle</div><div class="ttdoc">LRU clear cycle. Voxel deletion is performed every lru_clear_cycle steps.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:194</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a2367ceee91a64f171f7bd51255818123"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a2367ceee91a64f171f7bd51255818123">small_gicp::IncrementalVoxelMap::point_id</a></div><div class="ttdeci">size_t point_id(const size_t i) const</div><div class="ttdoc">Extract the voxel ID from a global index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:152</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a44471fbda2d8e82fc0d032f2f1a73669"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a44471fbda2d8e82fc0d032f2f1a73669">small_gicp::IncrementalVoxelMap::voxel_id</a></div><div class="ttdeci">size_t voxel_id(const size_t i) const</div><div class="ttdoc">Extract the point ID from a global index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:151</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a4606a0b974102ffb4993cab7d7e84fd3"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a4606a0b974102ffb4993cab7d7e84fd3">small_gicp::IncrementalVoxelMap::nearest_neighbor_search</a></div><div class="ttdeci">size_t nearest_neighbor_search(const Eigen::Vector4d &pt, size_t *index, double *sq_dist) const</div><div class="ttdoc">Find the nearest neighbor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:98</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a66a7ccaf7a12a00f6fa35749ea45590f"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a66a7ccaf7a12a00f6fa35749ea45590f">small_gicp::IncrementalVoxelMap::set_search_offsets</a></div><div class="ttdeci">void set_search_offsets(int num_offsets)</div><div class="ttdoc">Set the pattern of the search offsets. (Must be 1, 7, or 27)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:156</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a6d4a5d372737172be1d9de918b88d498"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a6d4a5d372737172be1d9de918b88d498">small_gicp::IncrementalVoxelMap::ConstPtr</a></div><div class="ttdeci">std::shared_ptr< const IncrementalVoxelMap > ConstPtr</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:41</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a716be702cbdf5e60076dc7a7cdbf92c0"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a716be702cbdf5e60076dc7a7cdbf92c0">small_gicp::IncrementalVoxelMap::calc_index</a></div><div class="ttdeci">size_t calc_index(const size_t voxel_id, const size_t point_id) const</div><div class="ttdoc">Calculate the global point index from the voxel index and the point index.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:150</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a7aa0f8d1dafcab0fefba744f9a28ca70"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a7aa0f8d1dafcab0fefba744f9a28ca70">small_gicp::IncrementalVoxelMap::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points in the voxelmap.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:48</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a82124fa68cad50f0c2cdc82f3f027096"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a82124fa68cad50f0c2cdc82f3f027096">small_gicp::IncrementalVoxelMap::voxel_setting</a></div><div class="ttdeci">VoxelContents::Setting voxel_setting</div><div class="ttdoc">Voxel setting.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:199</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_a8735fec64c049dfbc8fdc1680d2be33e"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#a8735fec64c049dfbc8fdc1680d2be33e">small_gicp::IncrementalVoxelMap::lru_counter</a></div><div class="ttdeci">size_t lru_counter</div><div class="ttdoc">LRU counter. Incremented every step.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:195</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_aa3359e10645a4a9418161590aa55fe0c"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#aa3359e10645a4a9418161590aa55fe0c">small_gicp::IncrementalVoxelMap::Ptr</a></div><div class="ttdeci">std::shared_ptr< IncrementalVoxelMap > Ptr</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:40</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_aadfd7a7c92bb208caa37dfa100409632"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#aadfd7a7c92bb208caa37dfa100409632">small_gicp::IncrementalVoxelMap::knn_search</a></div><div class="ttdeci">size_t knn_search(const Eigen::Vector4d &pt, size_t 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> incremental_voxelmap.hpp:126</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_aba2b6bc97aa8eb52f0f6d5907a8aba52"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#aba2b6bc97aa8eb52f0f6d5907a8aba52">small_gicp::IncrementalVoxelMap::IncrementalVoxelMap</a></div><div class="ttdeci">IncrementalVoxelMap(double leaf_size)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:45</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_abce65d0e2a90cbac70e055265a60db46"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#abce65d0e2a90cbac70e055265a60db46">small_gicp::IncrementalVoxelMap::lru_horizon</a></div><div class="ttdeci">size_t lru_horizon</div><div class="ttdoc">LRU horizon size. Voxels that have not been accessed for lru_horizon steps are deleted.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:193</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_ac61b57306df6f2e264d4ba94230ce57e"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#ac61b57306df6f2e264d4ba94230ce57e">small_gicp::IncrementalVoxelMap::point_id_bits</a></div><div class="ttdeci">static constexpr int point_id_bits</div><div class="ttdoc">Use the first 32 bits for point id.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:189</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_acba6fa768a1305f93b96df06db289431"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#acba6fa768a1305f93b96df06db289431">small_gicp::IncrementalVoxelMap::voxels</a></div><div class="ttdeci">std::unordered_map< Eigen::Vector3i, size_t, XORVector3iHash > voxels</div><div class="ttdoc">Voxel index map.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:201</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_ad3dd42e5b78c12c17519bb7357ac8ed9"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#ad3dd42e5b78c12c17519bb7357ac8ed9">small_gicp::IncrementalVoxelMap::inv_leaf_size</a></div><div class="ttdeci">const double inv_leaf_size</div><div class="ttdoc">Inverse of the voxel size.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:191</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html_ae916491c5d2718aca15dfc2cf930843a"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html#ae916491c5d2718aca15dfc2cf930843a">small_gicp::IncrementalVoxelMap::search_offsets</a></div><div class="ttdeci">std::vector< Eigen::Vector3i > search_offsets</div><div class="ttdoc">Voxel search offsets.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:197</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_1VoxelInfo_html"><div class="ttname"><a href="structsmall__gicp_1_1VoxelInfo.html">small_gicp::VoxelInfo</a></div><div class="ttdoc">Voxel meta information.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:21</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1VoxelInfo_html_a0507136d57f579ddbe23db7f46653972"><div class="ttname"><a href="structsmall__gicp_1_1VoxelInfo.html#a0507136d57f579ddbe23db7f46653972">small_gicp::VoxelInfo::lru</a></div><div class="ttdeci">size_t lru</div><div class="ttdoc">Last used time.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:29</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1VoxelInfo_html_a38e6968a3451b8950ea6108a9b0a0b51"><div class="ttname"><a href="structsmall__gicp_1_1VoxelInfo.html#a38e6968a3451b8950ea6108a9b0a0b51">small_gicp::VoxelInfo::coord</a></div><div class="ttdeci">Eigen::Vector3i coord</div><div class="ttdoc">Voxel coordinate.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:30</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1VoxelInfo_html_a61016e65ccc031572b1dc474ec6babcc"><div class="ttname"><a href="structsmall__gicp_1_1VoxelInfo.html#a61016e65ccc031572b1dc474ec6babcc">small_gicp::VoxelInfo::VoxelInfo</a></div><div class="ttdeci">VoxelInfo(const Eigen::Vector3i &coord, size_t lru)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:26</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4_html_a06c3e9d43806d1ea248f4bd97e19afa9"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a06c3e9d43806d1ea248f4bd97e19afa9">small_gicp::traits::Traits< IncrementalVoxelMap< VoxelContents > >::point</a></div><div class="ttdeci">static Eigen::Vector4d point(const IncrementalVoxelMap< VoxelContents > &voxelmap, size_t i)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:210</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4_html_a2d964f076c9d62a534378d1fa6809e96"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a2d964f076c9d62a534378d1fa6809e96">small_gicp::traits::Traits< IncrementalVoxelMap< VoxelContents > >::normal</a></div><div class="ttdeci">static Eigen::Vector4d normal(const IncrementalVoxelMap< VoxelContents > &voxelmap, size_t i)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:216</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4_html_a37f9ccb3289662452b244d71e636d615"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a37f9ccb3289662452b244d71e636d615">small_gicp::traits::Traits< IncrementalVoxelMap< VoxelContents > >::cov</a></div><div class="ttdeci">static Eigen::Matrix4d cov(const IncrementalVoxelMap< VoxelContents > &voxelmap, size_t i)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:222</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4_html_a53a0081aa37482584d68b0c9b775b720"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a53a0081aa37482584d68b0c9b775b720">small_gicp::traits::Traits< IncrementalVoxelMap< VoxelContents > >::size</a></div><div class="ttdeci">static size_t size(const IncrementalVoxelMap< VoxelContents > &voxelmap)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:208</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4_html_a53c4b9cf2e177aac0dda31b884031e93"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#a53c4b9cf2e177aac0dda31b884031e93">small_gicp::traits::Traits< IncrementalVoxelMap< VoxelContents > >::knn_search</a></div><div class="ttdeci">static size_t knn_search(const IncrementalVoxelMap< VoxelContents > &voxelmap, const Eigen::Vector4d &pt, int k, size_t *k_index, double *k_sq_dist)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:233</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4_html_abe301b7ed41d086f888f93add4ef1a49"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01IncrementalVoxelMap_3_01VoxelContents_01_4_01_4.html#abe301b7ed41d086f888f93add4ef1a49">small_gicp::traits::Traits< IncrementalVoxelMap< VoxelContents > >::nearest_neighbor_search</a></div><div class="ttdeci">static size_t nearest_neighbor_search(const IncrementalVoxelMap< VoxelContents > &voxelmap, const Eigen::Vector4d &pt, size_t *k_index, double *k_sq_dist)</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:229</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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<div class="ttc" id="avector3i__hash_8hpp_html"><div class="ttname"><a href="vector3i__hash_8hpp.html">vector3i_hash.hpp</a></div></div>
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