Returns the minimum possible correspondence cost.

Will return all trajectory ids, that have `state != DELETED`.

Merges all 'spans' that have similar median z value into the same level.

Convert 'matrix' into a pleasing-to-look-at image.

Computes the list of Message objects of the option messages in a file.

Recursively parses all proto files into a list of Message objects.

Replace the string at the top of the stack through a quoted version that Lua can read back.

Sets the given 'dictionary' as the value of the "this" key in Lua's registry table.

Cut the trajectory at jumps in z. A new span is started when the current node's z differes by more than kLevelHeightMeters from the median z values.

0 is unknown, [1, 32767] maps to [lower_bound, upper_bound].

0 is unknown, [1, 32767] maps to [lower_bound, upper_bound].

A function to sort the points in each slice by angle around the centroid. This is because the returns from different rangefinders are interleaved in t

Returns the length of 'span' in meters.