Creates a line represented as sequence of cylinder triangular meshes Arguments: points {ndarray} -- Numpy array of ponts Nx3.

Adds this line to the visualizer

* Helper function for running a specific benchmark * @param folder */

* Helper function to compare two certification results * @param actual_result * @param expected_result */

Compose a 4-by-4 matrix from teaserpp solution

Compute difference between two 4-by-4 SE3 transformation matrix

* Get TIMs built from target point cloud. * @return */

* Get the index map of the TIMs built from target point cloud. * @return */

* Get the index map of the TIMs used in rotation estimation. * @return */

* Return the cost at termination of the GNC rotation solver. Can be used to * assess the quality of the solution. * * @return cost at termina

* Return the pointer to the underlying pcl::FPFHEstimation object * @return */

* Get dst TIMs built after max clique pruning. * @return */

* Get src TIMs built after max clique pruning. * @return */

* Return the params * @return a Params truct */

* Return the index map for translation inliers (equivalent to max clique). * /TODO: This is obsolete now. Remove or update * * @return a 1-by

* Get TIMs built from source point cloud. * @return */

* Get the index map of the TIMs built from source point cloud. * @return */

* Get the index map of the TIMs used in rotation estimation. * @return */

* Return a boolean Eigen row vector indicating whether specific measurements are inliers * according to translation measurements. * * @return

Get GT inliers

* Return true if input is a 3-by-N MATLAB matrix * @param pa * @return */

* Return true if input is a real double scalar * @param pa * @return */

* Helper function to load a parameters.txt file * @param num_points * @param noise_sigma * @param outlier_ratio * @param noise_bound */

* Helper function to load parameters * @param file_path * @param cbar2 * @param noise_bound */

Load all possible pairs from GT

Load gt transformation

* This is the MATLAB binding for TEASER++. * * Input: * - src: a 3-by-N matrix of 3D points representing points to be transformed * - dst: a 3-by-

* Load the benchmark data for a specific benchmark * @param name the name of the benchmark, should correspond to one of the folder in the benchmark

Removes this line from the visualizer

* Reserve space for complete graph. A complete undirected graph should have N*(N-1)/2 edges * @param num_vertices */

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

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

* Helper function to load parameters for large problem instances * * Large instances are only used for testing the main certification function

* Helper function to set up small certification test instances */