class="keyword">delete</span> *vi;
<a name="l00126"></a>00126           *vi = NULL;
<a name="l00127"></a>00127         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(level &lt; 5) subdivide_current_bin(*vi, level + 1);
<a name="l00128"></a>00128         <span class="comment">// Depends on how we wish to represent the bins -- for now we are trying</span>
<a name="l00129"></a>00129         <span class="comment">// to get pose clustering working and to evaluate it -- we wish to </sp