Note: The first argument (checks_IGNORED_) is ignored, but kept for * compatibility with the FLANN interface */

Set initial GRBF params directly (no file needed). grbf: n x d matrix of zero-displacement weights. Call after Prepare() so that n_ and d_ are known.

Set initial rigid params directly (no file needed). 2-D: [tx, ty, theta]; 3-D: [q1, q2, q3, q4, tx, ty, tz].

Set initial TPS params directly (no file needed). affine: (d+1) x d; tps: (n-d-1) x d. Call after Prepare() so that n_ and d_ are known.

Set initial displacement params directly (no file needed). params: n x d matrix (zero = identity displacement). Call after Prepare() so that n_ and d_

Output row count must not exceed input row count

Identical points → affinity = 1.0

Each column of x must have zero mean after normalization

q=[0,0,0,1] (identity rotation) → R = I

Without outliers each column of P must sum exactly to 1.

Two identical single points: exp(0) / 1 = 1.0

Output size is m×n

* Called during search to add an element matching the criteria. * @return true if the search should be continued, false if the results are * suf

Add points to the set, Inserts all points from [start, end] */