* A simple undirected graph class * * This graph assumes that vertices are numbered. In addition, the vertices numbers have to be * con

defined here because in C++98, template function cannot take locally defined types... grrr.

think of it like a lambda in C++98 ;) but look, I will reuse it two times! What a good boy am I.

template<typename PointT>

* Abstract virtual class for decoupling specific rotation estimation method implementations with * interfaces. */

* Abstract virtual class for decoupling specific scale estimation methods with interfaces. */

* Abstract virtual class for decoupling specific translation estimation method implementations with * interfaces. */

* @brief Convenience class to use CLIPPER for data association. */

Define a comparison struct for the priority queue

* Use Fast Global Registration to solve for pairwise registration problems * * For more information, please see the original paper on FGR:

* Base class for GNC-based rotation solvers */

* Use GNC-TLS to solve rotation estimation problems. * * For more information, please refer to: * H. Yang, P. Antonante, V. Tzoumas, an

pole like feature

* @brief CLIPPER parameters */

* Struct to hold solution to a registration problem */

* Solve registration problems robustly. * * For more information, please refer to: * H. Yang, J. Shi, and L. Carlone, “TEASER: Fast and