code: def compute_registration_recall(
      xyz_gt, xyz_target_gt, T_est, thresh=0.2
  ):
      """
      compute the registration recall (as defined here https://node1.chrischoy.org/data/publications/fcgf/fcgf.pdf)
      """
  
      dist = torch.norm(
          xyz_gt @ T_est[:3, :3].T + T_est[:3, 3] - xyz_target_gt, dim=1
      )
  
      return dist.mean().item() < thresh
  
imports: import torch
  import numpy
  from sklearn.neighbors import NearestNeighbors
label_desc: Use image node_id 5 for calling a global function with example usage: compute_registration_recall(xyz_gt, xyz_target_gt, T_est, thresh) and returns: unknown