* EventUndistortionMap */

* \brief Constructor. */

\brief Constructor. * Sets \ref leaf_size_ to 0 and \ref searchable_ to false. */

\brief Auxilary function used to determin endpoints of More-Thuente interval. * \note \f$ \psi(\alpha) \f$ in Equation 1.6 (Moore, Thuente 1994)

\brief Auxilary function derivative used to determin endpoints of More-Thuente interval. * \note \f$ \psi'(\alpha) \f$, derivative of Equation 1.

\brief Estimate the transformation and returns the transformed source (input) as output. * \param[out] output the resultant input transfomed poin

\brief Convert 6 element transformation vector to affine transformation. * \param[in] x transformation vector of the form [x, y, z, roll, pitch,

Designates the most recently added node as finished

\brief Get a pointcloud containing the voxel centroids * \note Only voxels containing a sufficient number of points are used. * \return a ma

\brief Get the voxel covariance. * \return covariance matrix */

\brief Get the minimum allowable ratio between eigenvalues to prevent singular covariance * matrices. * \return the minimum allowable ratio

\brief Get the eigen values of the voxel covariance. * \note Order corresponds with \ref getEvecs * \return vector of eigen values

\brief Get the eigen vectors of the voxel covariance. * \note Order corresponds with \ref getEvals * \return matrix whose columns co

\brief Get the number of iterations required to calculate alignment. * \return final number of iterations */

\brief Get the voxel containing point p. * \param[in] index the index of the leaf structure node * \return const pointer to leaf structure

\brief Get the minimum number of points required for a cell to be used. * \return the minimum number of points for required for a voxel to be use

Retrieves the current node name ! @return nullptr if no name exists */

\brief Get the point cloud outlier ratio. * \return outlier ratio */

\brief Get the number of points contained by this voxel. * \return number of points */

\brief Get voxel grid resolution. * \return side length of voxels */

* EventLocalPlaneSacProblem */

\brief Get the newton line search maximum step length. * \return maximum step length */

\brief Get the registration alignment probability. * \return transformation probability */

\brief Initiate covariance voxel structure. */

Loads some binary data, encoded as a base64 string ! This will automatically start and finish a node to load the data, and can be called directly