feature method for background environmental semantics (e.g. Buildings)

* 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 */ inline Eigen::Matrix<int, 2, Eigen::Dynamic>;

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

* 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 struct */

* @brief get the index value in the polar radial direction * @param radius, polar diameter * @return polar diameter index */

* Return inliers from rotation estimation * * @return a vector of indices of TIMs passed to rotation estimator deemed * as inliers by r

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 * /TODO: This is obsolete now.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

* Return a boolean Eigen row vector indicating whether specific * measurements are inliers according to the rotation solver. * * @retur

* Return inlier TIMs from scale estimation * * @return a vector of tuples. Entries in each tuple represent the indices * of the two mea

* Return the index map for scale inliers (equivalent to the index map for * TIMs). * * @return a 2-by-(number of TIMs) Eigen matrix. En

* Return a boolean Eigen row vector indicating whether specific * measurements are inliers according to scales. * * @return a 1-by-(num

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

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

* Return inliers from rotation estimation * * @return a vector of indices of measurements deemed as inliers by rotation * estimation

* Return the index map for translation inliers (equivalent to max clique). * * @return a 1-by-(size of max clique) Eigen matrix. Entries rep

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

* Return true if said edge exists * @param [in] vertex_1 * @param [in] vertex_2 */

* Return true if the vertex exists. * @param vertex * @return */

* Return the hat map of the provided vector (a skew symmetric matrix). * @param u 3-by-1 vector * @param x 3-by-3 skew symmetric matrix */

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. */

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

* @brief delete clusters with fewer points, store clusters into a vector of * point clouds * @param label_info, input category information

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