* Reset the solver using the provided params * @param params a Params struct */

* Add an edge between two vertices * @param [in] vertex_1 one vertex of the edge * @param [in] vertex_2 another vertex of the edge

* Called during search to add an element matching the criteria. * @return true if the search should be continued, false if the results are

* Builds the index */

* Compute FPFH features. * * @return A shared pointer to the FPFH feature point cloud * @param input_cloud * @para

Assuming that PointT is a type that represents a 3D point, e.g., pcl::PointXYZ

* Create a tree node that subdivides the list of vecs from vind[first] * to vind[last]. The routine is called recursively on each sublist.

* Create a tree node that subdivides the list of vecs from vind[first] to * vind[last] concurrently. The routine is called recursively on ea

Returns a spec DIE linked to the passed one. The caller should deallocate the DIE

* Get the number of vertices * @return total number of vertices */ [[nodiscard]] tells the compiler if return value of the function

* Populate the graph with the provided number of vertices without any edges. * @param num_vertices */

* Reduce the graph by removing the pruned vertices * + Systematically speeds algorithm up by reducing the neighbors as more vertices are searched

* Wrapper function for the corresponding PCL function. * @param input_normals */

Resolve the function return type and parameters

* Helper function to use svd to estimate rotation. * Method described here: http://igl.ethz.ch/projects/ARAP/svd_rot.pdf * @param X * @

fast update

monotone chain algorithm for convex hull https://en.wikipedia.org/wiki/Convex_hull_algorithms#Algorithms https://github.com/MiguelVieira/ConvexHull2D/

Frees all allocated memory chunks */