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<li class="navelem"><a class="el" href="namespacesmall__gicp.html">small_gicp</a></li><li class="navelem"><a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a></li> </ul>
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<a href="structsmall__gicp_1_1KdTree-members.html">List of all members</a> </div>
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<div class="title">small_gicp::KdTree< PointCloud, Projection > Struct Template Reference</div> </div>
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<p>"Safe" <a class="el" href="structsmall__gicp_1_1KdTree.html" title=""Safe" KdTree that holds the ownership of the input points.">KdTree</a> that holds the ownership of the input points.
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<a href="structsmall__gicp_1_1KdTree.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a>></code></p>
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Collaboration diagram for small_gicp::KdTree< PointCloud, Projection >:</div>
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<div class="center"><img src="structsmall__gicp_1_1KdTree__coll__graph.png" border="0" usemap="#asmall__gicp_1_1KdTree_3_01PointCloud_00_01Projection_01_4_coll__map" alt="Collaboration graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
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Public Types</h2></td></tr>
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<tr class="memitem:a74e2a34297bd8fd1e686caf59896e338"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#a74e2a34297bd8fd1e686caf59896e338">Ptr</a> = std::shared_ptr< <a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection > ></td></tr>
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<tr class="separator:a74e2a34297bd8fd1e686caf59896e338"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a644dcce803d8a11418865ae0dbd2511c"><td class="memItemLeft" align="right" valign="top">using </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#a644dcce803d8a11418865ae0dbd2511c">ConstPtr</a> = std::shared_ptr< const <a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection > ></td></tr>
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<tr class="separator:a644dcce803d8a11418865ae0dbd2511c"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:aa4bf333fcd41c2f8a71d4b9ad788e345"><td class="memTemplParams" colspan="2">template<typename Builder = KdTreeBuilder> </td></tr>
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<tr class="memitem:aa4bf333fcd41c2f8a71d4b9ad788e345"><td class="memTemplItemLeft" align="right" valign="top"> </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#aa4bf333fcd41c2f8a71d4b9ad788e345">KdTree</a> (std::shared_ptr< const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> > <a class="el" href="structsmall__gicp_1_1KdTree.html#a302bdc6c65797e5c16b33e7c4fe30cd2">points</a>, const Builder &builder=Builder())</td></tr>
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<tr class="separator:aa4bf333fcd41c2f8a71d4b9ad788e345"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa5310187d9b174189f3e62db2f2f4bca"><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#aa5310187d9b174189f3e62db2f2f4bca">nearest_neighbor_search</a> (const Eigen::Vector4d &query, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &setting=<a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
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<tr class="memdesc:aa5310187d9b174189f3e62db2f2f4bca"><td class="mdescLeft"> </td><td class="mdescRight">Find k-nearest neighbors. This method uses dynamic memory allocation. <a href="structsmall__gicp_1_1KdTree.html#aa5310187d9b174189f3e62db2f2f4bca">More...</a><br /></td></tr>
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<tr class="separator:aa5310187d9b174189f3e62db2f2f4bca"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5be7cffa4ac041c6e909f3a729fbba5e"><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#a5be7cffa4ac041c6e909f3a729fbba5e">knn_search</a> (const Eigen::Vector4d &query, size_t k, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &setting=<a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
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<tr class="memdesc:a5be7cffa4ac041c6e909f3a729fbba5e"><td class="mdescLeft"> </td><td class="mdescRight">Find k-nearest neighbors. This method uses dynamic memory allocation. <a href="structsmall__gicp_1_1KdTree.html#a5be7cffa4ac041c6e909f3a729fbba5e">More...</a><br /></td></tr>
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<tr class="separator:a5be7cffa4ac041c6e909f3a729fbba5e"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:a302bdc6c65797e5c16b33e7c4fe30cd2"><td class="memItemLeft" align="right" valign="top">const std::shared_ptr< const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#a302bdc6c65797e5c16b33e7c4fe30cd2">points</a></td></tr>
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<tr class="memdesc:a302bdc6c65797e5c16b33e7c4fe30cd2"><td class="mdescLeft"> </td><td class="mdescRight">Points. <a href="structsmall__gicp_1_1KdTree.html#a302bdc6c65797e5c16b33e7c4fe30cd2">More...</a><br /></td></tr>
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<tr class="separator:a302bdc6c65797e5c16b33e7c4fe30cd2"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3b447e07aee322594e4eb67dece8b2e7"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">UnsafeKdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection > </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1KdTree.html#a3b447e07aee322594e4eb67dece8b2e7">kdtree</a></td></tr>
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<tr class="memdesc:a3b447e07aee322594e4eb67dece8b2e7"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="structsmall__gicp_1_1KdTree.html" title=""Safe" KdTree that holds the ownership of the input points.">KdTree</a>. <a href="structsmall__gicp_1_1KdTree.html#a3b447e07aee322594e4eb67dece8b2e7">More...</a><br /></td></tr>
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<tr class="separator:a3b447e07aee322594e4eb67dece8b2e7"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><h3>template<typename PointCloud, typename Projection = AxisAlignedProjection><br />
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struct small_gicp::KdTree< PointCloud, Projection ></h3>
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<p>"Safe" <a class="el" href="structsmall__gicp_1_1KdTree.html" title=""Safe" KdTree that holds the ownership of the input points.">KdTree</a> that holds the ownership of the input points. </p>
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</div><h2 class="groupheader">Member Typedef Documentation</h2>
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<a id="a644dcce803d8a11418865ae0dbd2511c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a644dcce803d8a11418865ae0dbd2511c">◆ </a></span>ConstPtr</h2>
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<table class="memname">
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<td class="memname">using <a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::<a class="el" href="structsmall__gicp_1_1KdTree.html#a644dcce803d8a11418865ae0dbd2511c">ConstPtr</a> = std::shared_ptr<const <a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a><<a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection> ></td>
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<a id="a74e2a34297bd8fd1e686caf59896e338"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a74e2a34297bd8fd1e686caf59896e338">◆ </a></span>Ptr</h2>
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<table class="memname">
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<td class="memname">using <a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::<a class="el" href="structsmall__gicp_1_1KdTree.html#a74e2a34297bd8fd1e686caf59896e338">Ptr</a> = std::shared_ptr<<a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a><<a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection> ></td>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="aa4bf333fcd41c2f8a71d4b9ad788e345"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa4bf333fcd41c2f8a71d4b9ad788e345">◆ </a></span>KdTree()</h2>
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<div class="memtemplate">
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<div class="memtemplate">
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template<typename Builder = KdTreeBuilder> </div>
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<table class="mlabels">
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<td class="mlabels-left">
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<table class="memname">
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<tr>
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<td class="memname"><a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::<a class="el" href="structsmall__gicp_1_1KdTree.html">KdTree</a> </td>
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<td>(</td>
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<td class="paramtype">std::shared_ptr< const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> > </td>
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<td class="paramname"><em>points</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const Builder & </td>
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<td class="paramname"><em>builder</em> = <code>Builder()</code> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">explicit</span></span> </td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a5be7cffa4ac041c6e909f3a729fbba5e"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5be7cffa4ac041c6e909f3a729fbba5e">◆ </a></span>knn_search()</h2>
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<td class="memname">size_t <a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::knn_search </td>
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<td>(</td>
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<td class="paramtype">const Eigen::Vector4d & </td>
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<td class="paramname"><em>query</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">size_t </td>
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<td class="paramname"><em>k</em>, </td>
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<td class="paramtype">size_t * </td>
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<td class="paramtype">double * </td>
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<td class="paramname"><em>k_sq_dists</em>, </td>
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<td></td>
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<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> & </td>
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<td class="paramname"><em>setting</em> = <code><a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()</code> </td>
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<td>)</td>
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<td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<p>Find k-nearest neighbors. This method uses dynamic memory allocation. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">query</td><td>Query point </td></tr>
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<tr><td class="paramname">k</td><td>Number of neighbors </td></tr>
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<tr><td class="paramname">k_indices</td><td>Indices of neighbors </td></tr>
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<tr><td class="paramname">k_sq_dists</td><td>Squared distances to neighbors (sorted in ascending order) </td></tr>
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<tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#aa5310187d9b174189f3e62db2f2f4bca">◆ </a></span>nearest_neighbor_search()</h2>
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<td class="memname">size_t <a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::nearest_neighbor_search </td>
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<td>(</td>
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<td class="paramtype">const Eigen::Vector4d & </td>
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<td class="paramname"><em>query</em>, </td>
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<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> & </td>
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<td class="paramname"><em>setting</em> = <code><a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()</code> </td>
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<td>)</td>
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<p>Find k-nearest neighbors. This method uses dynamic memory allocation. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">query</td><td>Query point </td></tr>
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<tr><td class="paramname">k</td><td>Number of neighbors </td></tr>
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<tr><td class="paramname">k_indices</td><td>Indices of neighbors </td></tr>
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<tr><td class="paramname">k_sq_dists</td><td>Squared distances to neighbors (sorted in ascending order) </td></tr>
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<tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>
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<h2 class="groupheader">Member Data Documentation</h2>
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<a id="a3b447e07aee322594e4eb67dece8b2e7"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a3b447e07aee322594e4eb67dece8b2e7">◆ </a></span>kdtree</h2>
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<td class="memname">const <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">UnsafeKdTree</a><<a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection> <a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::kdtree</td>
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<p><a class="el" href="structsmall__gicp_1_1KdTree.html" title=""Safe" KdTree that holds the ownership of the input points.">KdTree</a>. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a302bdc6c65797e5c16b33e7c4fe30cd2">◆ </a></span>points</h2>
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template<typename PointCloud , typename Projection = AxisAlignedProjection> </div>
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<td class="memname">const std::shared_ptr<const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>> <a class="el" href="structsmall__gicp_1_1KdTree.html">small_gicp::KdTree</a>< <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection >::points</td>
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<p>Points. </p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
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<li>/home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a></li>
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