Creates multiple empty trees to handle dynamic support */

Make sure the auxiliary list \a vind has the same size than the current * dataset, and re-generate if size has changed. */

here we update globally aligned odom pose asap

Must return the number of data points

Returns the dim'th component of the idx'th point in the class:

* Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1]. * Their indices are stored inside the result object. \sa radiusSearch,

* Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1]. * Their indices are stored inside the result object. \sa radiusSearch,

Loads a previous index from a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so the * index object must be c

Loads a previous index from a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so the * index object must be c

copied to the original, so that reloc part can use this func

very important in outdoor SLAM in nclt 20120202 loc run, it reduces reprojection error

make it compatible with other matching method?

teaser needs no intensity channel

Assignment operator definiton */

* Subdivide the list of points by a plane perpendicular on axe corresponding * to the 'cutfeat' dimension at 'cutval' position. * * On ret

Query for the \a num_closest closest points to a given point (entered as * query_point[0:dim-1]). Note that this is a short-cut method for * ind

Query for the \a num_closest closest points to a given point (entered as query_point[0:dim-1]). * Note that this is a short-cut method for index->

* Find all the neighbors to \a query_point[0:dim-1] within a maximum radius. * The output is given as a vector of pairs, of which the first elemen

Remove a point from the set (Lazy Deletion) */

Stores the index in a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so when * loading the index object it m

Stores the index in a binary file. * IMPORTANT NOTE: The set of data points is NOT stored in the file, so when * loading the index object it m