small_gicp/doc_cpp/structsmall__gicp_1_1Unsafe...

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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_1UnsafeKdTree.html">UnsafeKdTree</a></li>  </ul>
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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">small_gicp::UnsafeKdTree&lt; PointCloud, Projection_ &gt; Struct Template Reference</div>  </div>
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<p>"Unsafe" <a class="el" href="structsmall__gicp_1_1KdTree.html" title="&quot;Safe&quot; KdTree that holds the ownership of the input points.">KdTree</a>.
 <a href="structsmall__gicp_1_1UnsafeKdTree.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="kdtree_8hpp_source.html">kdtree.hpp</a>&gt;</code></p>
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Collaboration diagram for small_gicp::UnsafeKdTree&lt; PointCloud, Projection_ &gt;:</div>
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<area shape="rect" title="&quot;Unsafe&quot; KdTree." alt="" coords="5,95,208,136"/>
<area shape="rect" href="structsmall__gicp_1_1PointCloud.html" title="Point cloud." alt="" coords="21,5,192,32"/>
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<table class="memberdecls">
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Public Types</h2></td></tr>
<tr class="memitem:a4a6bbda5d83aa96f60db4698b996854a"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a4a6bbda5d83aa96f60db4698b996854a">Projection</a> = Projection_</td></tr>
<tr class="separator:a4a6bbda5d83aa96f60db4698b996854a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a508d2e1be7088c02d2e21798ad1c8334"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a508d2e1be7088c02d2e21798ad1c8334">Node</a> = <a class="el" href="structsmall__gicp_1_1KdTreeNode.html">KdTreeNode</a>&lt; <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a4a6bbda5d83aa96f60db4698b996854a">Projection</a> &gt;</td></tr>
<tr class="separator:a508d2e1be7088c02d2e21798ad1c8334"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a0723b0f5e9bd7062b6ef2a0ea9bf98ba"><td class="memTemplParams" colspan="2">template&lt;typename Builder  = KdTreeBuilder&gt; </td></tr>
<tr class="memitem:a0723b0f5e9bd7062b6ef2a0ea9bf98ba"><td class="memTemplItemLeft" align="right" valign="top">&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a0723b0f5e9bd7062b6ef2a0ea9bf98ba">UnsafeKdTree</a> (const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;<a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a9419369eaee866725444855752a264a5">points</a>, const Builder &amp;builder=<a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html">KdTreeBuilder</a>())</td></tr>
<tr class="memdesc:a0723b0f5e9bd7062b6ef2a0ea9bf98ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#a0723b0f5e9bd7062b6ef2a0ea9bf98ba">More...</a><br /></td></tr>
<tr class="separator:a0723b0f5e9bd7062b6ef2a0ea9bf98ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae09b9562e85f27982eb49657c8c714bc"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#ae09b9562e85f27982eb49657c8c714bc">nearest_neighbor_search</a> (const Eigen::Vector4d &amp;query, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &amp;setting=<a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
<tr class="memdesc:ae09b9562e85f27982eb49657c8c714bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the nearest neighbor.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#ae09b9562e85f27982eb49657c8c714bc">More...</a><br /></td></tr>
<tr class="separator:ae09b9562e85f27982eb49657c8c714bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5635c87b03a4f84c4fa6637cfbefa48"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#af5635c87b03a4f84c4fa6637cfbefa48">knn_search</a> (const Eigen::Vector4d &amp;query, int k, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &amp;setting=<a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
<tr class="memdesc:af5635c87b03a4f84c4fa6637cfbefa48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k-nearest neighbors. This method uses dynamic memory allocation.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#af5635c87b03a4f84c4fa6637cfbefa48">More...</a><br /></td></tr>
<tr class="separator:af5635c87b03a4f84c4fa6637cfbefa48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa42e4136085ce830a53fe759cb2915f9"><td class="memTemplParams" colspan="2">template&lt;int N&gt; </td></tr>
<tr class="memitem:aa42e4136085ce830a53fe759cb2915f9"><td class="memTemplItemLeft" align="right" valign="top">size_t&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#aa42e4136085ce830a53fe759cb2915f9">knn_search</a> (const Eigen::Vector4d &amp;query, size_t *k_indices, double *k_sq_dists, const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &amp;setting=<a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()) const</td></tr>
<tr class="memdesc:aa42e4136085ce830a53fe759cb2915f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find k-nearest neighbors. This method uses fixed and static memory allocation. Might be faster for small k.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#aa42e4136085ce830a53fe759cb2915f9">More...</a><br /></td></tr>
<tr class="separator:aa42e4136085ce830a53fe759cb2915f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a9419369eaee866725444855752a264a5"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a9419369eaee866725444855752a264a5">points</a></td></tr>
<tr class="memdesc:a9419369eaee866725444855752a264a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input points.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#a9419369eaee866725444855752a264a5">More...</a><br /></td></tr>
<tr class="separator:a9419369eaee866725444855752a264a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33bc5389c2ae61ac6202108c5bf1f080"><td class="memItemLeft" align="right" valign="top">std::vector&lt; size_t &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a33bc5389c2ae61ac6202108c5bf1f080">indices</a></td></tr>
<tr class="memdesc:a33bc5389c2ae61ac6202108c5bf1f080"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point indices refered by nodes.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#a33bc5389c2ae61ac6202108c5bf1f080">More...</a><br /></td></tr>
<tr class="separator:a33bc5389c2ae61ac6202108c5bf1f080"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ebf7f33b7bdccffd0bf2b09dd791bc9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">NodeIndexType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a0ebf7f33b7bdccffd0bf2b09dd791bc9">root</a></td></tr>
<tr class="memdesc:a0ebf7f33b7bdccffd0bf2b09dd791bc9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Root node index (should be zero)  <a href="structsmall__gicp_1_1UnsafeKdTree.html#a0ebf7f33b7bdccffd0bf2b09dd791bc9">More...</a><br /></td></tr>
<tr class="separator:a0ebf7f33b7bdccffd0bf2b09dd791bc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af44da5fdea9f539c3d65319853f5e179"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a508d2e1be7088c02d2e21798ad1c8334">Node</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#af44da5fdea9f539c3d65319853f5e179">nodes</a></td></tr>
<tr class="memdesc:af44da5fdea9f539c3d65319853f5e179"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kd-tree nodes.  <a href="structsmall__gicp_1_1UnsafeKdTree.html#af44da5fdea9f539c3d65319853f5e179">More...</a><br /></td></tr>
<tr class="separator:af44da5fdea9f539c3d65319853f5e179"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename PointCloud, typename Projection_ = AxisAlignedProjection&gt;<br />
struct small_gicp::UnsafeKdTree&lt; PointCloud, Projection_ &gt;</h3>

<p>"Unsafe" <a class="el" href="structsmall__gicp_1_1KdTree.html" title="&quot;Safe&quot; KdTree that holds the ownership of the input points.">KdTree</a>. </p>
<dl class="section note"><dt>Note</dt><dd>This class does not hold the ownership of the input points. You must keep the input points along with this class. </dd></dl>
</div><h2 class="groupheader">Member Typedef Documentation</h2>
<a id="a508d2e1be7088c02d2e21798ad1c8334"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a508d2e1be7088c02d2e21798ad1c8334">&#9670;&nbsp;</a></span>Node</h2>

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<div class="memtemplate">
template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">using <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::<a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a508d2e1be7088c02d2e21798ad1c8334">Node</a> =  <a class="el" href="structsmall__gicp_1_1KdTreeNode.html">KdTreeNode</a>&lt;<a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a4a6bbda5d83aa96f60db4698b996854a">Projection</a>&gt;</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<a id="a4a6bbda5d83aa96f60db4698b996854a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4a6bbda5d83aa96f60db4698b996854a">&#9670;&nbsp;</a></span>Projection</h2>

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<div class="memtemplate">
template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">using <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::<a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a4a6bbda5d83aa96f60db4698b996854a">Projection</a> =  Projection_</td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a0723b0f5e9bd7062b6ef2a0ea9bf98ba"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0723b0f5e9bd7062b6ef2a0ea9bf98ba">&#9670;&nbsp;</a></span>UnsafeKdTree()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
<div class="memtemplate">
template&lt;typename Builder  = KdTreeBuilder&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::<a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">UnsafeKdTree</a> </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
          <td class="paramname"><em>points</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Builder &amp;&#160;</td>
          <td class="paramname"><em>builder</em> = <code><a class="el" href="structsmall__gicp_1_1KdTreeBuilder.html">KdTreeBuilder</a>()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">explicit</span></span>  </td>
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<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>Point cloud </td></tr>
    <tr><td class="paramname">builder</td><td>Kd-tree builder </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="af5635c87b03a4f84c4fa6637cfbefa48"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af5635c87b03a4f84c4fa6637cfbefa48">&#9670;&nbsp;</a></span>knn_search() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
<table class="mlabels">
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          <td class="memname">size_t <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::knn_search </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
          <td class="paramname"><em>query</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>k</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t *&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&#160;</td>
          <td class="paramname"><em>k_sq_dists</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &amp;&#160;</td>
          <td class="paramname"><em>setting</em> = <code><a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <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>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">query</td><td>Query point </td></tr>
    <tr><td class="paramname">k</td><td>Number of neighbors </td></tr>
    <tr><td class="paramname">k_indices</td><td>Indices of neighbors </td></tr>
    <tr><td class="paramname">k_sq_dists</td><td>Squared distances to neighbors (sorted in ascending order) </td></tr>
    <tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>

</div>
</div>
<a id="aa42e4136085ce830a53fe759cb2915f9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa42e4136085ce830a53fe759cb2915f9">&#9670;&nbsp;</a></span>knn_search() <span class="overload">[2/2]</span></h2>

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template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
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template&lt;int N&gt; </div>
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          <td class="memname">size_t <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::knn_search </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
          <td class="paramname"><em>query</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">size_t *&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">double *&#160;</td>
          <td class="paramname"><em>k_sq_dists</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &amp;&#160;</td>
          <td class="paramname"><em>setting</em> = <code><a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Find k-nearest neighbors. This method uses fixed and static memory allocation. Might be faster for small k. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">query</td><td>Query point </td></tr>
    <tr><td class="paramname">k_indices</td><td>Indices of neighbors </td></tr>
    <tr><td class="paramname">k_sq_dists</td><td>Squared distances to neighbors (sorted in ascending order) </td></tr>
    <tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors </dd></dl>

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</div>
<a id="ae09b9562e85f27982eb49657c8c714bc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae09b9562e85f27982eb49657c8c714bc">&#9670;&nbsp;</a></span>nearest_neighbor_search()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">size_t <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::nearest_neighbor_search </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
          <td class="paramname"><em>query</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t *&#160;</td>
          <td class="paramname"><em>k_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double *&#160;</td>
          <td class="paramname"><em>k_sq_dists</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a> &amp;&#160;</td>
          <td class="paramname"><em>setting</em> = <code><a class="el" href="structsmall__gicp_1_1KnnSetting.html">KnnSetting</a>()</code>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td> const</td>
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<p>Find the nearest neighbor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">query</td><td>Query point </td></tr>
    <tr><td class="paramname">k_indices</td><td>Index of the nearest neighbor (uninitialized if not found) </td></tr>
    <tr><td class="paramname">k_sq_dists</td><td>Squared distance to the nearest neighbor (uninitialized if not found) </td></tr>
    <tr><td class="paramname">setting</td><td>KNN search setting </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Number of found neighbors (0 or 1) </dd></dl>

</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a33bc5389c2ae61ac6202108c5bf1f080"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a33bc5389c2ae61ac6202108c5bf1f080">&#9670;&nbsp;</a></span>indices</h2>

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template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
      <table class="memname">
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          <td class="memname">std::vector&lt;size_t&gt; <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::indices</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Point indices refered by nodes. </p>

</div>
</div>
<a id="af44da5fdea9f539c3d65319853f5e179"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af44da5fdea9f539c3d65319853f5e179">&#9670;&nbsp;</a></span>nodes</h2>

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template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
      <table class="memname">
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          <td class="memname">std::vector&lt;<a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html#a508d2e1be7088c02d2e21798ad1c8334">Node</a>&gt; <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::nodes</td>
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<p>Kd-tree nodes. </p>

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<a id="a9419369eaee866725444855752a264a5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9419369eaee866725444855752a264a5">&#9670;&nbsp;</a></span>points</h2>

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template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
      <table class="memname">
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          <td class="memname">const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>&amp; <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::points</td>
        </tr>
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<p>Input points. </p>

</div>
</div>
<a id="a0ebf7f33b7bdccffd0bf2b09dd791bc9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0ebf7f33b7bdccffd0bf2b09dd791bc9">&#9670;&nbsp;</a></span>root</h2>

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template&lt;typename PointCloud , typename Projection_  = AxisAlignedProjection&gt; </div>
      <table class="memname">
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          <td class="memname"><a class="el" href="namespacesmall__gicp.html#a0fcc071f1f9cc9ea2f79068231c9053a">NodeIndexType</a> <a class="el" href="structsmall__gicp_1_1UnsafeKdTree.html">small_gicp::UnsafeKdTree</a>&lt; <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>, Projection_ &gt;::root</td>
        </tr>
      </table>
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<p>Root node index (should be zero) </p>

</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
<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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