TO CHECK: let the unique id equal to the saving sequence of blocks

\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 1.6

registration basic interface

For a certain transformation T {R,t} the element of T in different coordinate system is different the rotation matrix is the same: Rm = Rw = R (take

registration blunder elimination (By Zhao Xing)

Calculate Fnorm between Transformation martix1 and Transformtion martix2

return true if the point contains a nan

* \brief Check the Normals (if they are finite) * \param normals is the input Point Cloud (XYZI)'s Normal Pointer */

Brief: Classfiy the downsampled non-ground points into several types (Pillar, Beam, Facade, Roof, Vertex) according to the pca features (combination o

brief: Accomplish Coarse registration using FPFH SAC

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

brief: Compute fpfh_feature

roll - pitch - yaw rotation (x - y' - z'') ----> this is for our tiny angle approximation

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

Brief: 4 parameters geo-coordiante transformation (tx,ty,r_xy,s)

Coordinate system covertation related functions Brief: Using the Gauss-Newton Least Square Method to solve 4 Degree of Freedom Transformation from no

Brief: 6DOF transofrmation estimation useing SVD

Brief: 7 parameters geo-coordiante transformation (tx,ty,tz,rx,ry,rz,s)

detect curb point clouds (Deprecated)

detect curb points on each scanline (Deprecated)

Brief: Detect some stable key points (vertex points) from the point cloud according to the local curvature and stability

Time complexity of kdtree (in this case, the target point cloud [n points] is used for construct the tree while each point in source point cloud acts

Only works on Semantic KITTI dataset (Deprecated) http://semantic-kitti.org/dataset.html

-------------------------------------------------------------------------------------------------------------------// Two threshold Fast Ground filter

Only works on Semantic KITTI dataset (Deprecated) http://semantic-kitti.org/dataset.html actually, points that are farther than 50 m from the scanner

Only works on Semantic KITTI dataset (Deprecated) http://semantic-kitti.org/dataset.html