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Matthew Self authored
* Use `nth_element()` to find the median instead of `sort()` in `LMeDSPointSetRegistrator::run()` * Improves performance of this part of LMedS from `n log(n)` to `n` by avoiding doing a full sort. * Makes LMedS 2x faster for 100 points, 4x faster for 5,000 points in `EstimateAffine2D()`. * LMedS is now never more than 2x slower than RANSAC and is faster in some cases.
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