* @brief search for neighboring voxels * @param polar_index, polar diameter index * @param pitch_index, pitch angular index * @param az

* Dense graphs: we use ADJ matrix + CSC Representation * ADJ: O(1) edge lookups * CSC: O(1) time to compute degree * */

For leveraging IMU data

* Set the rotation estimator used. * * Note: due to the fact that rotation estimator takes in a noise bound that is dependent on the

* Set the scale estimator used * @param estimator */

* Set the translation estimator used. * @param estimator */

Returns number of points in dataset */

* Computes the inde memory usage * Returns: memory used by the index */

Returns the length of each point in the dataset */

* Find the worst result (farthest neighbor) without copying or sorting * Pre-conditions: size() > 0 */

\brief Empty destructor */