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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">kdtree_omp.hpp</div> </div>
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<a href="kdtree__omp_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 <atomic></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <<a class="code" href="kdtree_8hpp.html">small_gicp/ann/kdtree.hpp</a>></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">#ifdef _MSC_VER</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma message("warning: Task-based OpenMP parallelism causes run-time memory errors with Eigen matrices."</span>)</div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#pragma message("warning: Thus, OpenMP-based multi-threading for KdTree construction is disabled on MSVC."</span>)</div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</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="l00014"></a><span class="lineno"> 14</span>  </div>
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<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html"> 16</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html">KdTreeBuilderOMP</a> {</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2156cf3d1d8f121a9d4c74f28aa3f390"> 20</a></span>  <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2156cf3d1d8f121a9d4c74f28aa3f390">KdTreeBuilderOMP</a>(<span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2b5b7cfd2ae0d83cecfa1b32bc3333f1">num_threads</a> = 4) : <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2b5b7cfd2ae0d83cecfa1b32bc3333f1">num_threads</a>(<a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2b5b7cfd2ae0d83cecfa1b32bc3333f1">num_threads</a>), <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a06e488d200e2afcd1a713e014e59bac0">max_leaf_size</a>(20) {}</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> KdTree, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud></div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ab0c657027d04b3f776bbdabdb250d0ab"> 24</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ab0c657027d04b3f776bbdabdb250d0ab">build_tree</a>(<a class="code" href="structsmall__gicp_1_1KdTree.html">KdTree</a>& kdtree, <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& points)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  kdtree.indices.resize(<a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(points));</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::iota(kdtree.indices.begin(), kdtree.indices.end(), 0);</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>  std::atomic_uint64_t node_count = 0;</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  kdtree.nodes.resize(<a class="code" href="namespacesmall__gicp_1_1traits.html#a3c4ae38ff52330d6e624f4971c291fac">traits::size</a>(points));</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#ifndef _MSC_VER</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#pragma omp parallel num_threads(num_threads)</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  {</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#pragma omp single nowait</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  { kdtree.root = <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(kdtree, node_count, points, kdtree.indices.begin(), kdtree.indices.begin(), kdtree.indices.end()); }</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  }</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  kdtree.root = <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(kdtree, node_count, points, kdtree.indices.begin(), kdtree.indices.begin(), kdtree.indices.end());</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  kdtree.nodes.resize(node_count);</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="l00043"></a><span class="lineno"> 43</span>  </div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> KdTree, <span class="keyword">typename</span> IndexConstIterator></div>
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<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5"> 50</a></span>  <a class="code" href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">NodeIndexType</a> <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="structsmall__gicp_1_1KdTree.html">KdTree</a>& kdtree,</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  std::atomic_uint64_t& node_count,</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& points,</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  IndexConstIterator global_first,</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  IndexConstIterator first,</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  IndexConstIterator last)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> N = std::distance(first, last);</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">const</span> <a class="code" href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">NodeIndexType</a> node_index = node_count++;</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">auto</span>& node = kdtree.nodes[node_index];</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="comment">// Create a leaf node.</span></div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (N <= <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a06e488d200e2afcd1a713e014e59bac0">max_leaf_size</a>) {</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="comment">// std::sort(first, last);</span></div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  node.node_type.lr.first = std::distance(global_first, first);</div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  node.node_type.lr.last = std::distance(global_first, last);</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>  <span class="keywordflow">return</span> node_index;</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  }</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// Find the best axis to split the input points.</span></div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">using</span> Projection = <span class="keyword">typename</span> KdTree::Projection;</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">const</span> <span class="keyword">auto</span> proj = Projection::find_axis(points, first, last, <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ae6c7f2b78f6079cae10f6add55ce1ed9">projection_setting</a>);</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">const</span> <span class="keyword">auto</span> median_itr = first + N / 2;</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  std::nth_element(first, median_itr, last, [&](<span class="keywordtype">size_t</span> i, <span class="keywordtype">size_t</span> j) { <span class="keywordflow">return</span> proj(<a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(points, i)) < proj(<a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(points, j)); });</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">// Create a non-leaf node.</span></div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  node.node_type.sub.proj = proj;</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  node.node_type.sub.thresh = proj(<a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(points, *median_itr));</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">// Create left and right child nodes.</span></div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="preprocessor">#ifndef _MSC_VER</span></div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="preprocessor">#pragma omp task default(shared) if (N > 512)</span></div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  node.left = <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(kdtree, node_count, points, global_first, first, median_itr);</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="preprocessor">#pragma omp task default(shared) if (N > 512)</span></div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  node.right = <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(kdtree, node_count, points, global_first, median_itr, last);</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="preprocessor">#pragma omp taskwait</span></div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  node.left = <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(kdtree, node_count, points, global_first, first, median_itr);</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  node.right = <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">create_node</a>(kdtree, node_count, points, global_first, median_itr, last);</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="preprocessor">#endif</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>  <span class="keywordflow">return</span> node_index;</div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2b5b7cfd2ae0d83cecfa1b32bc3333f1"> 96</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2b5b7cfd2ae0d83cecfa1b32bc3333f1">num_threads</a>; </div>
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<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a06e488d200e2afcd1a713e014e59bac0"> 97</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a06e488d200e2afcd1a713e014e59bac0">max_leaf_size</a>; </div>
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<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ae6c7f2b78f6079cae10f6add55ce1ed9"> 98</a></span>  <a class="code" href="structsmall__gicp_1_1ProjectionSetting.html">ProjectionSetting</a> <a class="code" href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ae6c7f2b78f6079cae10f6add55ce1ed9">projection_setting</a>; </div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> };</div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="akdtree_8hpp_html"><div class="ttname"><a href="kdtree_8hpp.html">kdtree.hpp</a></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_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_a0fcc071f1f9cc9ea2f79068231c9053a"><div class="ttname"><a href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">small_gicp::NodeIndexType</a></div><div class="ttdeci">std::uint32_t NodeIndexType</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:52</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html">small_gicp::KdTreeBuilderOMP</a></div><div class="ttdoc">Kd-tree builder with OpenMP.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:16</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html_a06e488d200e2afcd1a713e014e59bac0"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a06e488d200e2afcd1a713e014e59bac0">small_gicp::KdTreeBuilderOMP::max_leaf_size</a></div><div class="ttdeci">int max_leaf_size</div><div class="ttdoc">Maximum number of points in a leaf node.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:97</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html_a2156cf3d1d8f121a9d4c74f28aa3f390"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2156cf3d1d8f121a9d4c74f28aa3f390">small_gicp::KdTreeBuilderOMP::KdTreeBuilderOMP</a></div><div class="ttdeci">KdTreeBuilderOMP(int num_threads=4)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:20</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html_a2b5b7cfd2ae0d83cecfa1b32bc3333f1"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html#a2b5b7cfd2ae0d83cecfa1b32bc3333f1">small_gicp::KdTreeBuilderOMP::num_threads</a></div><div class="ttdeci">int num_threads</div><div class="ttdoc">Number of threads.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:96</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html_ab0c657027d04b3f776bbdabdb250d0ab"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ab0c657027d04b3f776bbdabdb250d0ab">small_gicp::KdTreeBuilderOMP::build_tree</a></div><div class="ttdeci">void build_tree(KdTree &kdtree, const PointCloud &points) const</div><div class="ttdoc">Build KdTree.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html_abadab5a306cbb297d3d0bf33d4e5acf5"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html#abadab5a306cbb297d3d0bf33d4e5acf5">small_gicp::KdTreeBuilderOMP::create_node</a></div><div class="ttdeci">NodeIndexType create_node(KdTree &kdtree, std::atomic_uint64_t &node_count, const PointCloud &points, IndexConstIterator global_first, IndexConstIterator first, IndexConstIterator last) const</div><div class="ttdoc">Create a Kd-tree node from the given point indices.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:50</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTreeBuilderOMP_html_ae6c7f2b78f6079cae10f6add55ce1ed9"><div class="ttname"><a href="structsmall__gicp_1_1KdTreeBuilderOMP.html#ae6c7f2b78f6079cae10f6add55ce1ed9">small_gicp::KdTreeBuilderOMP::projection_setting</a></div><div class="ttdeci">ProjectionSetting projection_setting</div><div class="ttdoc">Projection setting.</div><div class="ttdef"><b>Definition:</b> kdtree_omp.hpp:98</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KdTree_html"><div class="ttname"><a href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a></div><div class="ttdoc">"Safe" KdTree that holds the ownership of the input points.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:245</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_1ProjectionSetting_html"><div class="ttname"><a href="structsmall__gicp_1_1ProjectionSetting.html">small_gicp::ProjectionSetting</a></div><div class="ttdoc">Parameters to control the projection axis search.</div><div class="ttdef"><b>Definition:</b> projection.hpp:12</div></div>
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