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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">knn_result.hpp</div> </div>
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<a href="knn__result_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 <array></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <limits></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <iostream></span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <algorithm></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</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="l00011"></a><span class="lineno"> 11</span>  </div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnSetting.html"> 13</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> {</div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Result></div>
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<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnSetting.html#ac71f9e05909a6b40586abfc064bd5688"> 17</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1KnnSetting.html#ac71f9e05909a6b40586abfc064bd5688">fulfilled</a>(<span class="keyword">const</span> Result& result)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keywordflow">return</span> result.worst_distance() < <a class="code" href="structsmall__gicp_1_1KnnSetting.html#a4fd7c9a0d1434abc4d63c905bb17005e">epsilon</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="l00020"></a><span class="lineno"> 20</span>  </div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnSetting.html#a4fd7c9a0d1434abc4d63c905bb17005e"> 22</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1KnnSetting.html#a4fd7c9a0d1434abc4d63c905bb17005e">epsilon</a> = 0.0; </div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> };</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
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<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1identity__transform.html"> 26</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1identity__transform.html">identity_transform</a> {</div>
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<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1identity__transform.html#a4acec36f5a756a63ee2730aaf31743ff"> 27</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1identity__transform.html#a4acec36f5a756a63ee2730aaf31743ff">operator()</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> i; }</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> };</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">template</span> <<span class="keywordtype">int</span> N, <span class="keyword">typename</span> IndexTransform = <span class="keywordtype">id</span>entity_transform></div>
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<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html"> 33</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1KnnResult.html">KnnResult</a> {</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a5ecf0353f5e9d5dab6b3dd890c04736e"> 35</a></span>  <span class="keyword">static</span> constexpr <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a5ecf0353f5e9d5dab6b3dd890c04736e">INVALID</a> = std::numeric_limits<size_t>::max();</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="l00041"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#aa03cd14f8a2656a96ede4ece59765b3c"> 41</a></span>  <span class="keyword">explicit</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#aa03cd14f8a2656a96ede4ece59765b3c">KnnResult</a>(<span class="keywordtype">size_t</span>* <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>, <span class="keywordtype">double</span>* <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>, <span class="keywordtype">int</span> num_neighbors = -1, <span class="keyword">const</span> IndexTransform& <a class="code" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">index_transform</a> = <a class="code" href="structsmall__gicp_1_1identity__transform.html">identity_transform</a>())</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  : <a class="code" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">index_transform</a>(<a class="code" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">index_transform</a>),</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#a72aa5dc37a15d67ee31b0286ac4810b0">capacity</a>(num_neighbors),</div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">num_found_neighbors</a>(0),</div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>(<a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>),</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>(<a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>) {</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">if</span> constexpr (N > 0) {</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">if</span> (num_neighbors >= 0) {</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  std::cerr << <span class="stringliteral">"warning: Specifying dynamic num_neighbors="</span> << num_neighbors << <span class="stringliteral">" for a static KNN result container (N="</span> << N << <span class="stringliteral">")"</span> << std::endl;</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  abort();</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  }</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  } <span class="keywordflow">else</span> {</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> (num_neighbors <= 0) {</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  std::cerr << <span class="stringliteral">"error: Specifying invalid num_neighbors="</span> << num_neighbors << <span class="stringliteral">" for a dynamic KNN result container"</span> << std::endl;</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  abort();</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  }</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  std::fill(this->indices, this->indices + <a class="code" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">buffer_size</a>(), <a class="code" href="structsmall__gicp_1_1KnnResult.html#a5ecf0353f5e9d5dab6b3dd890c04736e">INVALID</a>);</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  std::fill(this->distances, this->distances + <a class="code" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">buffer_size</a>(), std::numeric_limits<double>::max());</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
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<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809"> 64</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">buffer_size</a>()<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">if</span> constexpr (N > 0) {</div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> N;</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  } <span class="keywordflow">else</span> {</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a72aa5dc37a15d67ee31b0286ac4810b0">capacity</a>;</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>  }</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="l00073"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a98726a0269ad1bcc4b330176a1566a28"> 73</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a98726a0269ad1bcc4b330176a1566a28">num_found</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">num_found_neighbors</a>; }</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
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<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a02c3e5fef39d23fdc3d6a1ffa444f02f"> 76</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a02c3e5fef39d23fdc3d6a1ffa444f02f">worst_distance</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>[<a class="code" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">buffer_size</a>() - 1]; }</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="l00080"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a785e85874886bf700f0b12d87e342bf8"> 80</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a785e85874886bf700f0b12d87e342bf8">push</a>(<span class="keywordtype">size_t</span> index, <span class="keywordtype">double</span> distance) {</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">if</span> (distance >= <a class="code" href="structsmall__gicp_1_1KnnResult.html#a02c3e5fef39d23fdc3d6a1ffa444f02f">worst_distance</a>()) {</div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">return</span>;</div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  }</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>  <span class="keywordflow">if</span> constexpr (N == 1) {</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>[0] = <a class="code" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">index_transform</a>(index);</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>[0] = distance;</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  } <span class="keywordflow">else</span> {</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordtype">int</span> insert_loc = std::min<int>(<a class="code" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">num_found_neighbors</a>, <a class="code" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">buffer_size</a>() - 1);</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">for</span> (; insert_loc > 0 && distance < <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>[insert_loc - 1]; insert_loc--) {</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>[insert_loc] = <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>[insert_loc - 1];</div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>[insert_loc] = <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>[insert_loc - 1];</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>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>[insert_loc] = <a class="code" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">index_transform</a>(index);</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>[insert_loc] = distance;</div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  </div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">num_found_neighbors</a> = std::min<int>(<a class="code" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">num_found_neighbors</a> + 1, <a class="code" href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">buffer_size</a>());</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>  </div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9"> 103</a></span>  <span class="keyword">const</span> IndexTransform <a class="code" href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">index_transform</a>; </div>
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<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a72aa5dc37a15d67ee31b0286ac4810b0"> 104</a></span>  <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#a72aa5dc37a15d67ee31b0286ac4810b0">capacity</a>; </div>
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<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b"> 105</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">num_found_neighbors</a>; </div>
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<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a"> 106</a></span>  <span class="keywordtype">size_t</span>* <a class="code" href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">indices</a>; </div>
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<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009"> 107</a></span>  <span class="keywordtype">double</span>* <a class="code" href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">distances</a>; </div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</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> } <span class="comment">// namespace small_gicp</span></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="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_a02c3e5fef39d23fdc3d6a1ffa444f02f"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a02c3e5fef39d23fdc3d6a1ffa444f02f">small_gicp::KnnResult::worst_distance</a></div><div class="ttdeci">double worst_distance() const</div><div class="ttdoc">Worst distance in the result.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:76</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a0447be8a20d4f3e571ce8850b193f809"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a0447be8a20d4f3e571ce8850b193f809">small_gicp::KnnResult::buffer_size</a></div><div class="ttdeci">size_t buffer_size() const</div><div class="ttdoc">Buffer size (i.e., Maximum number of neighbors)</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:64</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a15258d860e0440fbdb5c733d04e9edb9"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a15258d860e0440fbdb5c733d04e9edb9">small_gicp::KnnResult::index_transform</a></div><div class="ttdeci">const IndexTransform index_transform</div><div class="ttdoc">Point index transformation (e.g., local point index to global point/voxel index)</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:103</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a1f883acc448bd5e01a0c7d4d077e8009"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a1f883acc448bd5e01a0c7d4d077e8009">small_gicp::KnnResult::distances</a></div><div class="ttdeci">double * distances</div><div class="ttdoc">Distances to neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:107</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a5ecf0353f5e9d5dab6b3dd890c04736e"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a5ecf0353f5e9d5dab6b3dd890c04736e">small_gicp::KnnResult::INVALID</a></div><div class="ttdeci">static constexpr size_t INVALID</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:35</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a72aa5dc37a15d67ee31b0286ac4810b0"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a72aa5dc37a15d67ee31b0286ac4810b0">small_gicp::KnnResult::capacity</a></div><div class="ttdeci">const int capacity</div><div class="ttdoc">Maximum number of neighbors to search.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:104</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_a785e85874886bf700f0b12d87e342bf8"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#a785e85874886bf700f0b12d87e342bf8">small_gicp::KnnResult::push</a></div><div class="ttdeci">void push(size_t index, double distance)</div><div class="ttdoc">Push a pair of point index and distance to the result.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:80</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_1KnnResult_html_aa03cd14f8a2656a96ede4ece59765b3c"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#aa03cd14f8a2656a96ede4ece59765b3c">small_gicp::KnnResult::KnnResult</a></div><div class="ttdeci">KnnResult(size_t *indices, double *distances, int num_neighbors=-1, const IndexTransform &index_transform=identity_transform())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:41</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_aaf49d70bd20dd57890abf450e71ebc4a"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#aaf49d70bd20dd57890abf450e71ebc4a">small_gicp::KnnResult::indices</a></div><div class="ttdeci">size_t * indices</div><div class="ttdoc">Indices of neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:106</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnResult_html_ab1507a9270b4dd74215d4fcff27dc59b"><div class="ttname"><a href="structsmall__gicp_1_1KnnResult.html#ab1507a9270b4dd74215d4fcff27dc59b">small_gicp::KnnResult::num_found_neighbors</a></div><div class="ttdeci">int num_found_neighbors</div><div class="ttdoc">Number of found neighbors.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:105</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnSetting_html"><div class="ttname"><a href="structsmall__gicp_1_1KnnSetting.html">small_gicp::KnnSetting</a></div><div class="ttdoc">K-nearest neighbor search setting.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:13</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnSetting_html_a4fd7c9a0d1434abc4d63c905bb17005e"><div class="ttname"><a href="structsmall__gicp_1_1KnnSetting.html#a4fd7c9a0d1434abc4d63c905bb17005e">small_gicp::KnnSetting::epsilon</a></div><div class="ttdeci">double epsilon</div><div class="ttdoc">Early termination threshold.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:22</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1KnnSetting_html_ac71f9e05909a6b40586abfc064bd5688"><div class="ttname"><a href="structsmall__gicp_1_1KnnSetting.html#ac71f9e05909a6b40586abfc064bd5688">small_gicp::KnnSetting::fulfilled</a></div><div class="ttdeci">bool fulfilled(const Result &result) const</div><div class="ttdoc">Check if the result satisfies the early termination condition.</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:17</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1identity__transform_html"><div class="ttname"><a href="structsmall__gicp_1_1identity__transform.html">small_gicp::identity_transform</a></div><div class="ttdoc">Identity transform (alternative to std::identity in C++20).</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:26</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1identity__transform_html_a4acec36f5a756a63ee2730aaf31743ff"><div class="ttname"><a href="structsmall__gicp_1_1identity__transform.html#a4acec36f5a756a63ee2730aaf31743ff">small_gicp::identity_transform::operator()</a></div><div class="ttdeci">size_t operator()(size_t i) const</div><div class="ttdef"><b>Definition:</b> knn_result.hpp:27</div></div>
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