Write a simple JSON results file to output_path.

Convert a 16-bit depth image to an (N, 3) float64 point cloud.

Frees all allocated memory chunks */

Must return the number of data points

* Returns a pointer to a piece of new memory of the given size in bytes * allocated from the pool. */

Return {0-based frame index: 4×4 pose matrix} for all NUM_FRAMES frames.

Load depth image, convert and downsample. Returns (N,3) array or None.

Write per-frame GT pose files. Returns count of files written.

finds position of least significant unset bit */

Constructor: takes a const ref to the matrix object with the data points

Deleted copy constructor*/

* KDTree constructor * * Refer to docs in README.md or online in * https://github.com/jlblancoc/nanoflann * * The KD-Tree point dimensi

* KDTree constructor * * Refer to docs in README.md or online in * https://github.com/jlblancoc/nanoflann * * The KD-Tree point dimensi

Return false to skip ctrl_pts setup in Prepare() (e.g. RigidRegistration).

The constructor that sets the data set source

Default constructor. Initializes a new pool. */