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template <>
struct PointTraits<pcl::PointXYZI> {
  using PointType = pcl::PointXYZI;
  using ScalarType = float;
  // Spatial dimension. Set to pico_tree::kDynamicSize when the dimension is
  // only known at run-time.
  static std::size_t constexpr Dim = 3;

  // Returns a pointer to the coordinates of the input point.
  inline static float const* data(pcl::PointXYZI const& point) { return point.data; }

  // Returns the number of coordinates or spatial dimension of each point.
  inline static constexpr std::size_t size(pcl::PointXYZI const&) { return Dim; }
};

// Provides an interface for an std::deque<std::array>.
template <typename Scalar_, std::size_t Dim_>
struct SpaceTraits<std::deque<pcl::PointXYZI>> {
  using SpaceType = std::deque<pcl::PointXYZI>;
  using PointType = pcl::PointXYZI;
  using ScalarType = Scalar_;
  // Spatial dimension. Set to pico_tree::kDynamicSize when the dimension is
  // only known at run-time.
  static std::size_t constexpr Dim = Dim_;

  // Returns a point from the input space at the specified index.
  template <typename Index_>
  inline static PointType const& PointAt(
      SpaceType const& space, Index_ const index) {
    return space[static_cast<std::size_t>(index)];
  }

  // Returns number of points contained by the space.
  inline static std::size_t size(SpaceType const& space) {
    return space.size();
  }

  // Returns the number of coordinates or spatial dimension of each point.
  inline static constexpr std::size_t sdim(SpaceType const&) { return Dim; }
};

 error: template parameters not deducible in partial specialization:
 struct SpaceTraits<std::deque<pcl::PointXYZI>>

pico_tree/kd_tree.hpp:362:13: error: ‘pico_tree::KdTree<Space_, Metric_, SplittingRule_, Index_>::space_’ has incomplete type
   SpaceType space_