\brief Get a pointcloud containing the voxel centroids * \note Only voxels containing a sufficient number of points are used. * \return

\brief Get the number of neighbors used when computing covariances as set by * the user */

\brief Get the voxel covariance. * \return covariance matrix */

\brief Get the minimum allowable ratio between eigenvalues to prevent singular covariance matrices. * \return the minimum allowable ratio betw

\brief Get the eigen values of the voxel covariance. * \note Order corresponds with \ref getEvecs * \return vector of eigen values

\brief Get the eigen vectors of the voxel covariance. * \note Order corresponds with \ref getEvals * \return matrix whose columns

\brief Get the number of iterations required to calculate alignment. * \return final number of iterations */

\brief Get the voxel containing point p. * \param[in] index the index of the leaf structure node * \return const pointer to leaf structu

\return maximum number of iterations at the optimization step

\brief Get the minimum number of points required for a cell to be used. * \return the minimum number of points for required for a voxel to be

\brief Get the point cloud outlier ratio. * \return outlier ratio */

\brief Get the number of points contained by this voxel. * \return number of points */

\brief Get voxel grid resolution. * \return side length of voxels */

\brief Get the rotation epsilon (maximum allowable difference between two * consecutive rotations) as set by the user. */

\brief Get the newton line search maximum step length. * \return maximum step length */

\brief Get the registration alignment probability. * \return transformation probability */

\return trace of mat1^t . mat2 * \param mat1 matrix of dimension nxm * \param mat2 matrix of dimension nxp */