Flat-array distance precomputation + bitset CSR pipeline#17
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Precompute all N*(N-1)/2 pairwise Euclidean distances as flat float arrays, then scan once to build a bitset of compatible edges, and convert to CSR graph. This eliminates per-pair Eigen temporaries and operator[] calls, enabling SIMD-friendly memory access patterns. New files: - include/robin/distance.hpp: bulk pairwise Euclidean + cosine precomputation - include/robin/bitset.hpp: compact bitset with popcount + CSR construction Modified: - include/robin/math.hpp: factored out pair_from_linear_index utility - include/robin/robin.hpp: declared precomputed pipeline free functions - src/robin.cpp: implemented precomputed pipelines, wired into Make3dRegInvGraph and Make3dNormalRegInvGraph with automatic fallback for large inputs - tests/: added tests for pair_from_linear_index, precomputed graph equivalence, and integration tests for the optimized 3D registration pipeline Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
include/robin/distance.hpp) and compact bitset edge storage with popcount-based CSR construction (include/robin/bitset.hpp)pair_from_linear_indexutility from inline code incore.hppintomath.hppfor reuse across the codebaseMake3dRegInvGraphandMake3dNormalRegInvGraphwith automatic fallback to existing path when memory budget exceeds 512MBTest plan
pair_from_linear_indexunit tests: validates all pairs unique and ordered for N=5,10,50,100Make3dRegInvGraphprecomputed pipeline: no-outlier and with-outlier scenarios (N=20)🤖 Generated with Claude Code